{"schema":"dvidia.reference-task-episode/v1","profile":"ur5e-2f85-rigid-block-task-v0.1","scope":"Authored native UR5e/Robotiq rigid-block manipulation, privileged state and synthetic commands. No shoe model, learned task policy, camera sensing, calibrated contact or physical qualification.","physical_robot_ready":false,"seed":521052,"control":"replay_open_jaw","config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[-0.14707150885051776,0.49556896197880096,0.302],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"object_half_size_m":[0.02,0.02,0.02],"mass_kg":0.04,"friction":0.15,"table_top_m":0.28,"table_center_xy_m":[0.0,0.55],"table_half_size_xy_m":[0.32,0.26],"table_thickness_m":0.04,"goal_position_tolerance_m":0.025,"goal_dwell_s":0.25,"min_lift_m":0.06,"min_lift_dwell_s":0.1,"retreat_clearance_m":0.1,"joint_target_rate_rad_s":1.5,"jaw_target_rate_0_255_s":500.0,"tool_orientation_wxyz":[0.0,0.7071067811865476,0.7071067811865476,0.0]},"timestep_seconds":0.001,"simulated_seconds":20.00000000000146,"valid":true,"success":false,"reason":"timeout","error":null,"warnings":[],"trajectory":[{"t_seconds":0.0,"qpos":[-1.5708000000511324,-1.570799990938527,1.5708000088964793,-1.5707999927933878,-1.5708000000048468,7.524807652725732e-15,0.00291317864001224,0.0001563126029926126,0.0031731397940502125,-0.0034099014377596193,0.002913178482296667,0.00015631196605883329,0.00317750993502428,-0.0034186004966813505,-0.1470712696637384,0.49556891105693235,0.2998922445174839,1.0,-6.051256284987782e-14,-2.842322736211498e-13,4.1690277959385536e-20],"qvel":[3.635602907460618e-10,-3.789044671296143e-08,-3.670305057552976e-08,-2.9650023455897522e-08,2.5731377520640853e-11,-5.657149357361164e-14,0.0002043283573636655,-1.0940612711955913e-07,0.0002033997252470418,-0.00019397885083774708,0.00020432835815452078,-1.0939915054397899e-07,0.0002033966494123157,-0.00019396501347079104,4.3490461920388793e-13,-9.258860386315035e-14,2.361643725878923e-09,4.6350638993882225e-12,2.177197281642207e-11,-7.6566100447973015e-28],"joint_position_rad":[-1.5708000000511324,-1.570799990938527,1.5708000088964793,-1.5707999927933878,-1.5708000000048468,7.524807652725732e-15],"joint_velocity_rad_s":[3.635602907460618e-10,-3.789044671296143e-08,-3.670305057552976e-08,-2.9650023455897522e-08,2.5731377520640853e-11,-5.657149357361164e-14],"linkage_position_rad":[0.00291317864001224,0.0001563126029926126,0.0031731397940502125,-0.0034099014377596193,0.002913178482296667,0.00015631196605883329,0.00317750993502428,-0.0034186004966813505],"tcp_position_m":[-0.1339972531522152,0.4919998681166263,0.3322003577651117],"tcp_quaternion_wxyz":[8.903484650349e-09,0.707108079877554,0.7071054824884175,2.588452917498292e-06],"object_position_m":[-0.1470712696637384,0.49556891105693235,0.2998922445174839],"object_quaternion_wxyz":[1.0,-6.051256284987782e-14,-2.842322736211498e-13,4.1690277959385536e-20],"object_linear_velocity_m_s":[4.3490461920388793e-13,-9.258860386315035e-14,2.361643725878923e-09],"object_angular_velocity_rad_s":[4.6350638993882225e-12,2.177197281642207e-11,-8.51906838770108e-28],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313699313774798,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5708,-1.5812686929742095,1.560331229489481,-1.5756272782276017,-1.5707985386069219,4.452682438512985e-12,0.0],"actuator_force":[-4.3159161577932537e-08,-20.937388915186148,-20.93754413277611,-2.4136397521047,0.0007306963891551277,2.228235964787491e-09,-0.2933611396930363],"issued_joint_targets_rad":[-1.5659834323004498,-1.567925489606039,1.5225878225330225,-1.5256882747695169,-1.5707656071911813,0.004801830240783159],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.0,"joint_targets_rad":[-1.5659834323004498,-1.567925489606039,1.5225878225330225,-1.5256882747695169,-1.5707656071911813,0.004801830240783159],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.02000000000000001,"qpos":[-1.5704062422620881,-1.5704150380250723,1.5694895499858825,-1.5693212062837874,-1.5708147016531677,0.000413129510677312,0.0029278031304665396,0.0001591382656028252,0.003181192242444066,-0.0034311707695834316,0.0029273977683847907,0.00015569303380453533,0.003170858084633603,-0.0034455435311026147,-0.14707126966373238,0.4955689110569311,0.29989224455018243,1.0,-2.8536379466878396e-14,-1.3403557012476779e-13,4.169027792384196e-20],"qvel":[0.022750439461965567,0.02511779910557828,-0.12933461097853335,0.142874244376135,0.0003457390007114517,0.022166109055675596,0.0009365029139298541,5.969583169335114e-05,0.0004466942996091865,-0.0016200352270697288,0.0009219450357900562,0.00011685452658162527,0.0008593097853893757,-0.0011657311787891286,2.0508894759044152e-13,-4.366286384990726e-14,1.1221197923850094e-09,2.185746288927701e-12,1.0267044020873171e-11,-3.819729509957747e-27],"joint_position_rad":[-1.5704062422620881,-1.5704150380250723,1.5694895499858825,-1.5693212062837874,-1.5708147016531677,0.000413129510677312],"joint_velocity_rad_s":[0.022750439461965567,0.02511779910557828,-0.12933461097853335,0.142874244376135,0.0003457390007114517,0.022166109055675596],"linkage_position_rad":[0.0029278031304665396,0.0001591382656028252,0.003181192242444066,-0.0034311707695834316,0.0029273977683847907,0.00015569303380453533,0.003170858084633603,-0.0034455435311026147],"tcp_position_m":[-0.13418721939838263,0.4919689618327441,0.33250783580290105],"tcp_quaternion_wxyz":[0.0002008963315890344,0.7071149002524428,0.7070986085636195,-0.0001877472621406318],"object_position_m":[-0.14707126966373238,0.4955689110569311,0.29989224455018243],"object_quaternion_wxyz":[1.0,-2.8536379466878396e-14,-1.3403557012476779e-13,4.169027792384196e-20],"object_linear_velocity_m_s":[2.0508894759044152e-13,-4.366286384990726e-14,1.1221197923850094e-09],"object_angular_velocity_rad_s":[2.185746288927701e-12,1.0267044020873171e-11,-3.85275790648162e-27],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931385765877909,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5659820289848823,-1.5784049252149521,1.5303322313432584,-1.5456240912486283,-1.57076414716125,0.004801828891145607,0.0],"actuator_force":[-0.25174923037411645,-26.026894021990756,-26.580792893835223,-2.438866920033888,-0.009296654112176839,-0.022261215333411855,-0.302052284691166],"issued_joint_targets_rad":[-1.5656534490871443,-1.567832085219888,1.5216984895189944,-1.524889092879983,-1.5707634637812156,0.00513199551328589],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.02000000000000001,"joint_targets_rad":[-1.5656534490871443,-1.567832085219888,1.5216984895189944,-1.524889092879983,-1.5707634637812156,0.00513199551328589],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.04000000000000003,"qpos":[-1.569955367290563,-1.5699470127890185,1.5656642280248585,-1.5653921088422698,-1.5708083825567172,0.0008638980186701504,0.002941899608694657,0.00015862840320207564,0.003194771629646807,-0.003447829415319622,0.002941622365906959,0.00015728653445937942,0.003194000529687606,-0.0034572357807283313,-0.14707126966372955,0.49556891105693046,0.29989224456577385,1.0,-1.3376784082683762e-14,-6.283681221583263e-14,4.169027741981333e-20],"qvel":[0.020940091078146164,0.01633938857284201,-0.2191945806285421,0.20615307964377233,0.00037169337639162645,0.021556883675099035,0.00011416244790982615,-0.00020199572591107976,0.0006908876506760747,0.0004670427845583974,0.00014701689478763402,6.949086987802654e-05,0.0017325105131622048,0.0007045015894073774,9.684858858953204e-14,-2.061637715840124e-14,5.591249374825993e-10,1.106567333441997e-12,5.191448148788466e-12,-4.59640016456229e-25],"joint_position_rad":[-1.569955367290563,-1.5699470127890185,1.5656642280248585,-1.5653921088422698,-1.5708083825567172,0.0008638980186701504],"joint_velocity_rad_s":[0.020940091078146164,0.01633938857284201,-0.2191945806285421,0.20615307964377233,0.00037169337639162645,0.021556883675099035],"linkage_position_rad":[0.002941899608694657,0.00015862840320207564,0.003194771629646807,-0.003447829415319622,0.002941622365906959,0.00015728653445937942,0.003194000529687606,-0.0034572357807283313],"tcp_position_m":[-0.13441068001673803,0.4919575779382755,0.33376671078356857],"tcp_quaternion_wxyz":[0.0004010830376111229,0.707114777567212,0.7070985623706714,-0.0003918823782272119],"object_position_m":[-0.14707126966372955,0.49556891105693046,0.29989224456577385],"object_quaternion_wxyz":[1.0,-1.3376784082683762e-14,-6.283681221583263e-14,4.169027741981333e-20],"object_linear_velocity_m_s":[9.684858858953204e-14,-2.061637715840124e-14,5.591249374825993e-10],"object_angular_velocity_rad_s":[1.106567333441997e-12,5.191448148788466e-12,-4.594634509104735e-25],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313666230349024,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5656491217490105,-1.5783325723352515,1.511232245173117,-1.52970705256325,-1.5707619626858262,0.005131991427780634,0.0],"actuator_force":[0.23645465184699788,-23.306874521602367,-21.18613345206586,-2.772779824867257,-0.013959402193790993,-0.021641662954662078,-0.29548199544356807],"issued_joint_targets_rad":[-1.5652227482930015,-1.5675454663509036,1.51819417419275,-1.5216685845373223,-1.5707609984372397,0.005562739941335935],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.04000000000000003,"joint_targets_rad":[-1.5652227482930015,-1.5675454663509036,1.51819417419275,-1.5216685845373223,-1.5707609984372397,0.005562739941335935],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.060000000000000046,"qpos":[-1.5695121605114766,-1.569681470650666,1.5611585598982898,-1.5612168851079145,-1.5708042213954072,0.00131229478002429,0.0029414328942810736,0.00015626526002612807,0.003200913539169805,-0.0034373156306633824,0.0029414808380221046,0.00015667661559870744,0.0032066815563000085,-0.0034458660823953255,-0.1470712696637334,0.4955689110569314,0.29989224457377606,1.0,3.7324074900412594e-14,1.71303071406738e-13,4.168402648480177e-20],"qvel":[0.021591740613110037,0.00982687607423876,-0.2177509472925281,0.19896431151055005,0.00028255630799568744,0.021468270974733483,-0.0001789932789825143,-7.21155216387923e-05,2.6559983854763066e-06,0.0004806334444567369,-0.00017270775091350173,-3.344232499165753e-05,0.00017392684416675177,0.0005463547779983019,-9.079426983069098e-13,1.9737406738829127e-13,2.861318315839216e-10,1.579783382032551e-11,7.278756516323612e-11,-2.4779666702515185e-21],"joint_position_rad":[-1.5695121605114766,-1.569681470650666,1.5611585598982898,-1.5612168851079145,-1.5708042213954072,0.00131229478002429],"joint_velocity_rad_s":[0.021591740613110037,0.00982687607423876,-0.2177509472925281,0.19896431151055005,0.00028255630799568744,0.021468270974733483],"linkage_position_rad":[0.0029414328942810736,0.00015626526002612807,0.003200913539169805,-0.0034373156306633824,0.0029414808380221046,0.00015667661559870744,0.0032066815563000085,-0.0034458660823953255],"tcp_position_m":[-0.13462992275338267,0.4920167785603494,0.3354351661533131],"tcp_quaternion_wxyz":[0.0003768122394990437,0.7071166258964454,0.7070967389974776,-0.00037026003743369755],"object_position_m":[-0.1470712696637334,0.4955689110569314,0.29989224457377606],"object_quaternion_wxyz":[1.0,3.7324074900412594e-14,1.71303071406738e-13,4.168402648480177e-20],"object_linear_velocity_m_s":[-9.079426983069098e-13,1.9737406738829127e-13,2.861318315839216e-10],"object_angular_velocity_rad_s":[1.579783382032551e-11,7.278756516323612e-11,-2.477945648093566e-21],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313440120803436,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5652182827979009,-1.5780525939872243,1.5077281344225173,-1.5264863653121699,-1.5707595006475459,0.005562735764605178,0.0],"actuator_force":[-0.04894081809243289,-20.672997102811678,-19.76047203453345,-2.5311712531827197,-0.005895256868825527,-0.021606605182904026,-0.2923871814656788],"issued_joint_targets_rad":[-1.5647789619762846,-1.5670613417065398,1.5134521713382356,-1.5174118938028291,-1.5707611261094654,0.006006540692108629],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.060000000000000046,"joint_targets_rad":[-1.5647789619762846,-1.5670613417065398,1.5134521713382356,-1.5174118938028291,-1.5707611261094654,0.006006540692108629],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.08000000000000006,"qpos":[-1.5690599330503614,-1.5694337817594417,1.5566319343653277,-1.5570555742170258,-1.570800092110667,0.001760185376480789,0.002939985950638994,0.00015607104858929378,0.0032002501720833467,-0.003434946191624447,0.0029400091289343423,0.00015645225156270612,0.0032061207446760272,-0.0034431527543399157,-0.14707126966391454,0.4955689110569707,0.29989224457755925,1.0,1.3448484983815262e-12,6.192771551832136e-12,4.055367734868559e-20],"qvel":[0.02166086819104211,0.010593397483082329,-0.21902739725786077,0.1993476795504431,0.0002787868346745147,0.02144745701900007,-0.00017744786580877497,-3.795360358083e-05,-7.508366537702127e-05,0.00028708833196546815,-0.00017144343471600624,1.300442213016783e-06,8.558773173384293e-05,0.0003404760276775387,-2.1838048564605714e-11,4.742326790751048e-12,1.1942518726164296e-10,3.109807624712112e-10,1.432103287678833e-09,-3.6994846738029334e-19],"joint_position_rad":[-1.5690599330503614,-1.5694337817594417,1.5566319343653277,-1.5570555742170258,-1.570800092110667,0.001760185376480789],"joint_velocity_rad_s":[0.02166086819104211,0.010593397483082329,-0.21902739725786077,0.1993476795504431,0.0002787868346745147,0.02144745701900007],"linkage_position_rad":[0.002939985950638994,0.00015607104858929378,0.0032002501720833467,-0.003434946191624447,0.0029400091289343423,0.00015645225156270612,0.0032061207446760272,-0.0034431527543399157],"tcp_position_m":[-0.13485367274560367,0.4920733268613661,0.3371240148405729],"tcp_quaternion_wxyz":[0.0003338618520854431,0.7071151142034082,0.7070982922308866,-0.0003300386764496137],"object_position_m":[-0.14707126966391454,0.4955689110569707,0.29989224457755925],"object_quaternion_wxyz":[1.0,1.3448484983815262e-12,6.192771551832136e-12,4.055367734868559e-20],"object_linear_velocity_m_s":[-2.1838048564605714e-11,4.742326790751048e-12,1.1942518726164296e-10],"object_angular_velocity_rad_s":[3.109807624712112e-10,1.432103287678833e-09,-3.6994820910636664e-19],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313431960343088,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5647744721547994,-1.5775734554554404,1.5029864711063299,-1.5222299934399182,-1.5707596146357385,0.006006536674294066,0.0],"actuator_force":[-0.09342548529275518,-20.516706385230464,-19.679967614851194,-2.5219775664904773,-0.007639946003109799,-0.02157005299336845,-0.29225529747604295],"issued_joint_targets_rad":[-1.5643267903391556,-1.566560219684762,1.5086401758169077,-1.5131025541104115,-1.5707614560971208,0.00645870635925736],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.08000000000000006,"joint_targets_rad":[-1.5643267903391556,-1.566560219684762,1.5086401758169077,-1.5131025541104115,-1.5707614560971208,0.00645870635925736],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.10000000000000007,"qpos":[-1.568607118818159,-1.5691642185303174,1.552078239721394,-1.5528812587378216,-1.570796314484135,0.0022084460144010266,0.0029387405893745474,0.00015607019461684053,0.003199108918095132,-0.003433784683522659,0.002938760504785864,0.0001564505692864937,0.0032049973842815977,-0.003441959062130958,-0.1470712696642091,0.49556891105703466,0.2998922445789613,1.0,2.2164854514714903e-12,1.0206862866871156e-11,3.842741606297201e-20],"qvel":[0.02166035764470448,0.011746367081200844,-0.22033859228912717,0.20002273052035432,0.0002592379228233745,0.02146717107666151,-0.00016620706487012257,-3.7770121344784446e-05,-7.394600574473364e-05,0.0002764895915751126,-0.00015952675134771154,2.9367638134369177e-06,8.853225730012021e-05,0.0003241609093227507,-3.7738369124792046e-11,8.195025809554985e-12,4.4484095040916873e-11,4.3564183605460416e-10,2.0061640593297553e-09,-1.487112935416308e-18],"joint_position_rad":[-1.568607118818159,-1.5691642185303174,1.552078239721394,-1.5528812587378216,-1.570796314484135,0.0022084460144010266],"joint_velocity_rad_s":[0.02166035764470448,0.011746367081200844,-0.22033859228912717,0.20002273052035432,0.0002592379228233745,0.02146717107666151],"linkage_position_rad":[0.0029387405893745474,0.00015607019461684053,0.003199108918095132,-0.003433784683522659,0.002938760504785864,0.0001564505692864937,0.0032049973842815977,-0.003441959062130958],"tcp_position_m":[-0.13507770041644496,0.4921297796648154,0.33881399076949126],"tcp_quaternion_wxyz":[0.00029376679056622776,0.7071135220713233,0.7070999187219952,-0.0002924864241373275],"object_position_m":[-0.1470712696642091,0.49556891105703466,0.2998922445789613],"object_quaternion_wxyz":[1.0,2.2164854514714903e-12,1.0206862866871156e-11,3.842741606297201e-20],"object_linear_velocity_m_s":[-3.7738369124792046e-11,8.195025809554985e-12,4.4484095040916873e-11],"object_angular_velocity_rad_s":[4.3564183605460416e-10,2.0061640593297553e-09,-1.4871127414741318e-18],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313441633058399,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5643222873808178,-1.577077523819034,1.498174990904812,-1.5179209709951706,-1.5707599310747644,0.006458702501710457,0.0],"actuator_force":[-0.09448018319926632,-20.52515740991339,-19.671060717512773,-2.5221291807099533,-0.007732087596991732,-0.02158886401143567,-0.2922463856269314],"issued_joint_targets_rad":[-1.5638743050696227,-1.5660413664934554,1.5038061629308375,-1.5087888923094583,-1.5707617538361707,0.006911184997025196],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.10000000000000007,"joint_targets_rad":[-1.5638743050696227,-1.5660413664934554,1.5038061629308375,-1.5087888923094583,-1.5707617538361707,0.006911184997025196],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.12000000000000009,"qpos":[-1.5681543268534506,-1.5688709162805083,1.547498038864788,-1.5486936767880575,-1.5707929225632924,0.002657109458598976,0.0029377126910782323,0.00015606850360665067,0.0031981011976345473,-0.003432805534118115,0.0029377329458490932,0.00015645301069438377,0.0032040048789844697,-0.003440978004631227,-0.1470712696646551,0.49556891105713147,0.2998922445794801,1.0,2.9993853283349434e-12,1.3812236956738632e-11,3.278868750726037e-20],"qvel":[0.021654642482458547,0.012895050940137969,-0.22161547470694468,0.20065844440414016,0.00024071767313596,0.02148644098733206,-0.00015603210346206334,-3.7826436610399026e-05,-6.384597603724266e-05,0.00026728646751859636,-0.0001493010956150493,3.162426920641736e-06,9.947987825627398e-05,0.00031516452365762106,-1.623102091554807e-11,3.5246365192796573e-12,1.4735336029178403e-11,-8.500898431983254e-11,-3.91465387084783e-10,-1.609332211914433e-19],"joint_position_rad":[-1.5681543268534506,-1.5688709162805083,1.547498038864788,-1.5486936767880575,-1.5707929225632924,0.002657109458598976],"joint_velocity_rad_s":[0.021654642482458547,0.012895050940137969,-0.22161547470694468,0.20065844440414016,0.00024071767313596,0.02148644098733206],"linkage_position_rad":[0.0029377126910782323,0.00015606850360665067,0.0031981011976345473,-0.003432805534118115,0.0029377329458490932,0.00015645301069438377,0.0032040048789844697,-0.003440978004631227],"tcp_position_m":[-0.1353016977274097,0.49218631826021286,0.3405038331871725],"tcp_quaternion_wxyz":[0.0002574958984631335,0.7071120765523659,0.7071013916326995,-0.00025853580458063454],"object_position_m":[-0.1470712696646551,0.49556891105713147,0.2998922445794801],"object_quaternion_wxyz":[1.0,2.9993853283349434e-12,1.3812236956738632e-11,3.278868750726037e-20],"object_linear_velocity_m_s":[-1.623102091554807e-11,3.5246365192796573e-12,1.4735336029178403e-11],"object_angular_velocity_rad_s":[-8.500898431983254e-11,-3.91465387084783e-10,-1.6093320379883502e-19],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313450598350254,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5638697905455088,-1.576564177172054,1.4933416732765705,-1.5136075928743862,-1.5707602165601444,0.006911181285033676,0.0],"actuator_force":[-0.09278437709963328,-20.54454215914666,-19.666541293657247,-2.5228024835784026,-0.007718765739582523,-0.021608185515856082,-0.2922456158509807],"issued_joint_targets_rad":[-1.56342208395052,-1.5655047409077067,1.4989531811101364,-1.5044739806563312,-1.5707620091197936,0.007363400313223424],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.12000000000000009,"joint_targets_rad":[-1.56342208395052,-1.5655047409077067,1.4989531811101364,-1.5044739806563312,-1.5707620091197936,0.007363400313223424],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.1400000000000001,"qpos":[-1.567701614403748,-1.568554308571637,1.5428920581102807,-1.5444939102320254,-1.5707898796726656,0.0031061145885228156,0.00293686976415763,0.00015606754699819549,0.0031972717107605453,-0.003432003397216592,0.0029368903024750664,0.00015645592369733824,0.003203189045020829,-0.0034401726844671323,-0.14707126966518336,0.49556891105724615,0.29989224457967034,1.0,3.6142967689653222e-12,1.6644053769987216e-11,1.7136434747616272e-20],"qvel":[0.021647697138150065,0.014017116985197422,-0.2228572344897782,0.2012393295593711,0.0002241049148553003,0.02150265565228983,-0.00014759194017212928,-3.7881574628129434e-05,-5.457281927633999e-05,0.0002594083305919407,-0.00014082157770532082,3.380128301605871e-06,0.00010966819810182029,0.0003074087371484026,-2.0637594338461265e-11,4.481510936291401e-12,5.532671010263646e-12,-8.314626460038246e-11,-3.8288847196455997e-10,-6.469329690685235e-19],"joint_position_rad":[-1.567701614403748,-1.568554308571637,1.5428920581102807,-1.5444939102320254,-1.5707898796726656,0.0031061145885228156],"joint_velocity_rad_s":[0.021647697138150065,0.014017116985197422,-0.2228572344897782,0.2012393295593711,0.0002241049148553003,0.02150265565228983],"linkage_position_rad":[0.00293686976415763,0.00015606754699819549,0.0031972717107605453,-0.003432003397216592,0.0029368903024750664,0.00015645592369733824,0.003203189045020829,-0.0034401726844671323],"tcp_position_m":[-0.13552564610443715,0.49224295798340395,0.34219346574300086],"tcp_quaternion_wxyz":[0.00022476120470037237,0.7071107769636495,0.7071027129337828,-0.0002279165375507787],"object_position_m":[-0.14707126966518336,0.49556891105724615,0.29989224457967034],"object_quaternion_wxyz":[1.0,3.6142967689653222e-12,1.6644053769987216e-11,1.7136434747616272e-20],"object_linear_velocity_m_s":[-2.0637594338461265e-11,4.481510936291401e-12,5.532671010263646e-12],"object_angular_velocity_rad_s":[-8.314626460038246e-11,-3.8288847196455997e-10,-6.469329324051499e-19],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313457990284636,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5634175587369776,-1.5760333704651865,1.488489566287569,-1.5092929325006623,-1.5707604608241839,0.007363396732481206,0.0],"actuator_force":[-0.09096752171899425,-20.564970581178386,-19.662089849512085,-2.523444090255566,-0.007701067244624937,-0.02162449324978777,-0.29224593574224755],"issued_joint_targets_rad":[-1.56297016127348,-1.5649503294600149,1.4940813011817058,-1.5001579084074061,-1.5707622249006563,0.007815318097702022],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.1400000000000001,"joint_targets_rad":[-1.56297016127348,-1.5649503294600149,1.4940813011817058,-1.5001579084074061,-1.5707622249006563,0.007815318097702022],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.16000000000000011,"qpos":[-1.5672490021118044,-1.568214921722101,1.5382609581556974,-1.5402830122227003,-1.570787148850831,0.0035554002948886927,0.0029361789504559147,0.00015606669837143325,0.0031965931807271895,-0.003431346206295373,0.002936199751469466,0.00015645882447049657,0.0032025236296799285,-0.0034395124187786537,-0.14707126966573372,0.4955689110573656,0.29989224457974073,1.0,3.949679497210144e-12,1.8188555544814484e-11,-2.02117214317685e-20],"qvel":[0.021639861058676966,0.015113742257712538,-0.22406754182129213,0.2017699055189344,0.0002092627912375332,0.0215159503622675,-0.00014066954537005584,-3.795582622846946e-05,-4.675131999940525e-05,0.00025305326800722643,-0.00013385825757309598,3.5801791360369173e-06,0.00011841828516833184,0.00030116215310098117,-2.440180771835114e-11,5.298896596018209e-12,2.1107235626398393e-12,-4.757138889524687e-11,-2.1906787088585863e-10,-2.6004686703954713e-18],"joint_position_rad":[-1.5672490021118044,-1.568214921722101,1.5382609581556974,-1.5402830122227003,-1.570787148850831,0.0035554002948886927],"joint_velocity_rad_s":[0.021639861058676966,0.015113742257712538,-0.22406754182129213,0.2017699055189344,0.0002092627912375332,0.0215159503622675],"linkage_position_rad":[0.0029361789504559147,0.00015606669837143325,0.0031965931807271895,-0.003431346206295373,0.002936199751469466,0.00015645882447049657,0.0032025236296799285,-0.0034395124187786537],"tcp_position_m":[-0.13574954504621017,0.4922997031601811,0.3438828868095143],"tcp_quaternion_wxyz":[0.00019522816360930114,0.7071096095862959,0.707103897451621,-0.00020031327383790575],"object_position_m":[-0.14707126966573372,0.4955689110573656,0.29989224457974073],"object_quaternion_wxyz":[1.0,3.949679497210144e-12,1.8188555544814484e-11,-2.02117214317685e-20],"object_linear_velocity_m_s":[-2.440180771835114e-11,5.298896596018209e-12,2.1107235626398393e-12],"object_angular_velocity_rad_s":[-4.757138889524687e-11,-2.1906787088585863e-10,-2.600468656453212e-18],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931346401262268,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5629656261133895,-1.5754850800815328,1.4836187402108203,-1.5049770820844768,-1.5707606666934222,0.007815314635213205,0.0],"actuator_force":[-0.0891924266411479,-20.585813621948546,-19.657419161237158,-2.524025482781667,-0.007685200419359717,-0.021637866064493583,-0.2922462960815533],"issued_joint_targets_rad":[-1.5625185376253912,-1.5643781178342635,1.489190402186485,-1.4958405747522658,-1.5707624046535673,0.008266937743012414],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.16000000000000011,"joint_targets_rad":[-1.5625185376253912,-1.5643781178342635,1.489190402186485,-1.4958405747522658,-1.5707624046535673,0.008266937743012414],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.18000000000000013,"qpos":[-1.5667965067197143,-1.5678532383936414,1.5336053247280004,-1.5360619295902898,-1.570784696748247,0.004004911108459668,0.0029356128059916838,0.00015606583418474013,0.0031960386343614982,-0.003430807368784354,0.0029356338539760518,0.00015646158449021143,0.0032019817419692525,-0.0034389705854500252,-0.14707126966628464,0.49556891105748535,0.2998922445797671,1.0,4.059505304193011e-12,1.8694371736566878e-11,-1.0445721914469528e-19],"qvel":[0.021631229508016016,0.016187367037331635,-0.22525000390446623,0.20225543832849377,0.00019600952558040773,0.021526602184311232,-0.000134994527070564,-3.803056732231351e-05,-4.0153987964084586e-05,0.0002478878676467468,-0.00012814218133240288,3.7811721158981193e-06,0.00012595095380424262,0.00029610874346417895,-2.8637837061849034e-11,6.218727248421556e-12,8.184211864185956e-13,2.3910158350319868e-11,1.1011371113450297e-10,-1.0452997584869887e-17],"joint_position_rad":[-1.5667965067197143,-1.5678532383936414,1.5336053247280004,-1.5360619295902898,-1.570784696748247,0.004004911108459668],"joint_velocity_rad_s":[0.021631229508016016,0.016187367037331635,-0.22525000390446623,0.20225543832849377,0.00019600952558040773,0.021526602184311232],"linkage_position_rad":[0.0029356128059916838,0.00015606583418474013,0.0031960386343614982,-0.003430807368784354,0.0029356338539760518,0.00015646158449021143,0.0032019817419692525,-0.0034389705854500252],"tcp_position_m":[-0.13597339504555067,0.49235655750484403,0.34557209917792414],"tcp_quaternion_wxyz":[0.00016858956969325662,0.7071085612059569,0.7071049593015661,-0.00017543639513269328],"object_position_m":[-0.14707126966628464,0.49556891105748535,0.2998922445797671],"object_quaternion_wxyz":[1.0,4.059505304193011e-12,1.8694371736566878e-11,-1.0445721914469528e-19],"object_linear_velocity_m_s":[-2.8637837061849034e-11,6.218727248421556e-12,8.184211864185956e-13],"object_angular_velocity_rad_s":[2.3910158350319868e-11,1.1011371113450297e-10,-1.045299754125802e-17],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313468905287925,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5625139931721348,-1.5749192821249172,1.4787290735852767,-1.5006599436031076,-1.5707608375250741,0.00826693438702435,0.0],"actuator_force":[-0.08746470804771889,-20.607034277483763,-19.652500723660978,-2.524550839258268,-0.00767134097145572,-0.021648579148782154,-0.2922466494563719],"issued_joint_targets_rad":[-1.562067211941723,-1.5637880887345317,1.4842803475275337,-1.4915218657748186,-1.5707625515916983,0.008718260278806012],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.18000000000000013,"joint_targets_rad":[-1.562067211941723,-1.5637880887345317,1.4842803475275337,-1.4915218657748186,-1.5707625515916983,0.008718260278806012],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.20000000000000015,"qpos":[-1.5663441433427103,-1.5674696933662338,1.5289256744874928,-1.5318315078197393,-1.5707824935023027,0.004454596967837432,0.0029351488277357765,0.00015606495952626858,0.0031955857234088228,-0.0034303655243359673,0.0029351701075681002,0.00015646421848875366,0.0032015410797471685,-0.003438525802292097,-0.14707126966682044,0.49556891105760176,0.2998922445797772,1.0,3.933775370076341e-12,1.8115440762206095e-11,-2.733452858417353e-19],"qvel":[0.021621873620984392,0.017240297631240836,-0.22640791641298097,0.20270076943494056,0.00018417838138724295,0.021534869174251077,-0.0001303419786681066,-3.810514360579394e-05,-3.45613610416834e-05,0.00024369609869710727,-0.00012344830177149962,3.984426710198433e-06,0.00013248629869961934,0.00029202996302514804,-3.4669705377884686e-11,7.528518454211307e-12,3.2352400762534343e-13,1.389721480881394e-10,6.399941858708666e-10,-4.2017502207195906e-17],"joint_position_rad":[-1.5663441433427103,-1.5674696933662338,1.5289256744874928,-1.5318315078197393,-1.5707824935023027,0.004454596967837432],"joint_velocity_rad_s":[0.021621873620984392,0.017240297631240836,-0.22640791641298097,0.20270076943494056,0.00018417838138724295,0.021534869174251077],"linkage_position_rad":[0.0029351488277357765,0.00015606495952626858,0.0031955857234088228,-0.0034303655243359673,0.0029351701075681002,0.00015646421848875366,0.0032015410797471685,-0.003438525802292097],"tcp_position_m":[-0.13619719650429596,0.49241352480544687,0.3472611055592145],"tcp_quaternion_wxyz":[0.00014456739842699296,0.707107619853601,0.7071059111823026,-0.0001530238116653725],"object_position_m":[-0.14707126966682044,0.49556891105760176,0.2998922445797772],"object_quaternion_wxyz":[1.0,3.933775370076341e-12,1.8115440762206095e-11,-2.733452858417353e-19],"object_linear_velocity_m_s":[-3.4669705377884686e-11,7.528518454211307e-12,3.2352400762534343e-13],"object_angular_velocity_rad_s":[1.389721480881394e-10,6.399941858708666e-10,-4.201750210389774e-17],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931347287197638,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5620626587691206,-1.574335950642215,1.473820429373238,-1.4963414056640063,-1.5707609764266948,0.008718257018692374,0.0],"actuator_force":[-0.0857803012140721,-20.628633604459083,-19.647323663317366,-2.5250258656275264,-0.007659300334694308,-0.021656891997636762,-0.29224699536299586],"issued_joint_targets_rad":[-1.5616161835342208,-1.5631802218222766,1.4793509962993923,-1.4872016658093883,-1.57076266863988,0.009169286352644745],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.20000000000000015,"joint_targets_rad":[-1.5616161835342208,-1.5631802218222766,1.4793509962993923,-1.4872016658093883,-1.57076266863988,0.009169286352644745],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.22000000000000017,"qpos":[-1.5658919257742627,-1.5670646773564834,1.5242224612409494,-1.5275925003387207,-1.5707805123914143,0.004904412674047591,0.002934768572608357,0.0001560640795937623,0.003195216104669326,-0.0034300031629668107,0.0029347900706825454,0.00015646674390047612,0.0032011833438693833,-0.003438160553994653,-0.1470712696673547,0.4955689110577179,0.29989224457978114,1.0,3.765922255784696e-12,1.7342505310728488e-11,-6.066759398377023e-19],"qvel":[0.021611855437237527,0.018274636703495804,-0.22754427707656813,0.20311028577490542,0.00017361968408193175,0.021540982900436066,-0.00012652747211626392,-3.817967829849952e-05,-2.979033490032336e-05,0.00024030320942037642,-0.00011959217061396424,4.189845954259404e-06,0.00013820748080035987,0.00028875104770399203,-4.448839788585373e-11,9.660670270493548e-12,1.320382914531196e-13,3.0950863225308453e-10,1.4253188590374354e-09,-1.6889660102972155e-16],"joint_position_rad":[-1.5658919257742627,-1.5670646773564834,1.5242224612409494,-1.5275925003387207,-1.5707805123914143,0.004904412674047591],"joint_velocity_rad_s":[0.021611855437237527,0.018274636703495804,-0.22754427707656813,0.20311028577490542,0.00017361968408193175,0.021540982900436066],"linkage_position_rad":[0.002934768572608357,0.0001560640795937623,0.003195216104669326,-0.0034300031629668107,0.0029347900706825454,0.00015646674390047612,0.0032011833438693833,-0.003438160553994653],"tcp_position_m":[-0.13642094967268364,0.4924706089769247,0.3489499083233719],"tcp_quaternion_wxyz":[0.0001229102955209968,0.7071067747376296,0.7071067644755731,-0.000132838595102323],"object_position_m":[-0.1470712696673547,0.4955689110577179,0.29989224457978114],"object_quaternion_wxyz":[1.0,3.765922255784696e-12,1.7342505310728488e-11,-6.066759398377023e-19],"object_linear_velocity_m_s":[-4.448839788585373e-11,9.660670270493548e-12,1.320382914531196e-13],"object_angular_velocity_rad_s":[3.0950863225308453e-10,1.4253188590374354e-09,-1.6889660105989302e-16],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313476080031409,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5616116221436351,-1.5737350575015672,1.4688926662862494,-1.492021354879316,-1.5707610862285188,0.009169283178796398,0.0],"actuator_force":[-0.08413491363944559,-20.65061497156603,-19.641879078772945,-2.52545584778818,-0.007648886960510026,-0.021663037669203078,-0.292247333950894],"issued_joint_targets_rad":[-1.5611654521984235,-1.5625544937427969,1.4744022039539064,-1.4828798581218867,-1.5707627584552208,0.009620016125205222],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.22000000000000017,"joint_targets_rad":[-1.5611654521984235,-1.5625544937427969,1.4744022039539064,-1.4828798581218867,-1.5707627584552208,0.009620016125205222],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.24000000000000019,"qpos":[-1.565439866648257,-1.5666385409635706,1.5194960816099439,-1.5233455772192577,-1.5707787295093805,0.005354317378286309,0.0029344569259833974,0.00015606319828388759,0.003194914744312425,-0.003429705933471512,0.002934478630076438,0.00015646917570526518,0.003200893540217005,-0.003437860483776869,-0.14707126966791834,0.4955689110578402,0.2998922445797827,1.0,3.7092462397014136e-12,1.708149819880861e-11,-1.2470805182260555e-18],"qvel":[0.02160122961726992,0.019292297498954135,-0.22866181347002967,0.20348795900095337,0.00016419930783324055,0.02154515049968176,-0.00012339983016436558,-3.825424785622006e-05,-2.5690444157246657e-05,0.0002375656639924951,-0.00011642259893323189,4.397367062399982e-06,0.00014326503610286932,0.0002861284656890525,-2.08280374855822e-11,4.5228092877019405e-12,4.936414614562656e-14,-1.4071269951622766e-10,-6.479967774084038e-10,-1.8277543460436926e-17],"joint_position_rad":[-1.565439866648257,-1.5666385409635706,1.5194960816099439,-1.5233455772192577,-1.5707787295093805,0.005354317378286309],"joint_velocity_rad_s":[0.02160122961726992,0.019292297498954135,-0.22866181347002967,0.20348795900095337,0.00016419930783324055,0.02154515049968176],"linkage_position_rad":[0.0029344569259833974,0.00015606319828388759,0.003194914744312425,-0.003429705933471512,0.002934478630076438,0.00015646917570526518,0.003200893540217005,-0.003437860483776869],"tcp_position_m":[-0.1366446546537535,0.4925278140725632,0.35063850951039216],"tcp_quaternion_wxyz":[0.00010339103677282991,0.7071060161341086,0.7071075293820718,-0.00011466658050477004],"object_position_m":[-0.14707126966791834,0.4955689110578402,0.2998922445797827],"object_quaternion_wxyz":[1.0,3.7092462397014136e-12,1.708149819880861e-11,-1.2470805182260555e-18],"object_linear_velocity_m_s":[-2.08280374855822e-11,4.5228092877019405e-12,4.936414614562656e-14],"object_angular_velocity_rad_s":[-1.4071269951622766e-10,-6.479967774084038e-10,-1.8277543452210136e-17],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313478666570373,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5611608830250945,-1.5731165723409621,1.4639456394471624,-1.4876996765705166,-1.5707611695029589,0.009620013028931517,0.0],"actuator_force":[-0.08252460058292854,-20.672981754364628,-19.63615893755059,-2.5258455757248157,-0.007639927572540728,-0.021667224645572247,-0.29224766565750376],"issued_joint_targets_rad":[-1.56071501820067,-1.5619108781467026,1.4694338222681422,-1.4785563248989548,-1.5707628234493327,0.010070449285076038],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.24000000000000019,"joint_targets_rad":[-1.56071501820067,-1.5619108781467026,1.4694338222681422,-1.4785563248989548,-1.5707628234493327,0.010070449285076038],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.2600000000000002,"qpos":[-1.5649879775780149,-1.5661915982671268,1.5147468801527042,-1.5190913330600666,-1.5707771234721064,0.005804274119619568,0.002934201501209177,0.0001560623184808734,0.003194669322985118,-0.003429462074825931,0.002934223400349677,0.00015647152685292504,0.0032006593854748086,-0.0034376138254116058,-0.1470712696685345,0.4955689110579741,0.29989224457978336,1.0,4.0260359095987255e-12,1.854032706458317e-11,-3.2612823837570887e-18],"qvel":[0.021590044212385393,0.020295021755580307,-0.22976300917235587,0.20383738524230519,0.00015579709796955096,0.021547557086926475,-0.000120835157563681,-3.832892242705611e-05,-2.2138341011526045e-05,0.0002353658523708515,-0.00011381567913141704,4.606939196169849e-06,0.0001477824012363145,0.00028404459657529823,-2.3138549121360627e-11,5.024542318750667e-12,1.86650917359602e-14,-1.1953949865926588e-10,-5.50492939597504e-10,-7.346993744865441e-17],"joint_position_rad":[-1.5649879775780149,-1.5661915982671268,1.5147468801527042,-1.5190913330600666,-1.5707771234721064,0.005804274119619568],"joint_velocity_rad_s":[0.021590044212385393,0.020295021755580307,-0.22976300917235587,0.20383738524230519,0.00015579709796955096,0.021547557086926475],"linkage_position_rad":[0.002934201501209177,0.0001560623184808734,0.003194669322985118,-0.003429462074825931,0.002934223400349677,0.00015647152685292504,0.0032006593854748086,-0.0034376138254116058],"tcp_position_m":[-0.13686831141080077,0.4925851442932739,0.3523269108563917],"tcp_quaternion_wxyz":[8.580421393255205e-05,0.7071053352838751,0.7071082150456435,-9.831418167701751e-05],"object_position_m":[-0.1470712696685345,0.4955689110579741,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.0260359095987255e-12,1.854032706458317e-11,-3.2612823837570887e-18],"object_linear_velocity_m_s":[-2.3138549121360627e-11,5.024542318750667e-12,1.86650917359602e-14],"object_angular_velocity_rad_s":[-1.1953949865926588e-10,-5.50492939597504e-10,-7.346993745453546e-17],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348074391565,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5607104416194604,-1.5724804625177171,1.4589792003546402,-1.4833762547791651,-1.5707612285858026,0.01007044625851574,0.0],"actuator_force":[-0.08094576784560559,-20.69573720341259,-19.630155927186024,-2.5261993837797263,-0.0076322666450323595,-0.021669639244561445,-0.29224799089446724],"issued_joint_targets_rad":[-1.5602648822607112,-1.5612493457009529,1.4644456992604646,-1.4742309471919801,-1.5707628658092094,0.01052058506748171],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.2600000000000002,"joint_targets_rad":[-1.5602648822607112,-1.5612493457009529,1.4644456992604646,-1.4742309471919801,-1.5707628658092094,0.01052058506748171],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.2800000000000002,"qpos":[-1.5645362692814475,-1.5657241300796025,1.50997515398776,-1.5148302941093588,-1.5707756751543602,0.0062542494087715434,0.0029339921472800075,0.00015606144222190133,0.0031944697459340057,-0.0034292619485640575,0.002934014231632034,0.000156473808525947,0.0032004708176272836,-0.0034374109356169183,-0.14707126966914214,0.49556891105810613,0.29989224457978336,1.0,4.23110066839568e-12,1.9484653392536806e-11,-8.112517064164418e-18],"qvel":[0.021578341301486854,0.02128439625969755,-0.2308501275175758,0.20416182133608843,0.00014830543752954495,0.02154836795205503,-0.00011873191946849301,-3.8403762014378326e-05,-1.9032916927435655e-05,0.00023360739921069715,-0.00011166986398970883,4.8185254739430705e-06,0.00015186078554593537,0.00028240305629220037,-2.5725687310808617e-11,5.5863462744079336e-12,1.2891932007909386e-14,-7.644919753522754e-11,-3.520568587819357e-10,-2.9532760356468666e-16],"joint_position_rad":[-1.5645362692814475,-1.5657241300796025,1.50997515398776,-1.5148302941093588,-1.5707756751543602,0.0062542494087715434],"joint_velocity_rad_s":[0.021578341301486854,0.02128439625969755,-0.2308501275175758,0.20416182133608843,0.00014830543752954495,0.02154836795205503],"linkage_position_rad":[0.0029339921472800075,0.00015606144222190133,0.0031944697459340057,-0.0034292619485640575,0.002934014231632034,0.000156473808525947,0.0032004708176272836,-0.0034374109356169183],"tcp_position_m":[-0.1370919197739231,0.49264260399737647,0.35401511381830175],"tcp_quaternion_wxyz":[6.996414137590618e-05,0.7071047242989063,0.7071088296642557,-8.36064151464648e-05],"object_position_m":[-0.14707126966914214,0.49556891105810613,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.23110066839568e-12,1.9484653392536806e-11,-8.112517064164418e-18],"object_linear_velocity_m_s":[-2.5725687310808617e-11,5.5863462744079336e-12,1.2891932007909386e-14],"object_angular_velocity_rad_s":[-7.644919753522755e-11,-3.520568587819357e-10,-2.9532760356847546e-16],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313482404070658,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.560260298591318,-1.571826693054364,1.4539931967961794,-1.4790509722304144,-1.5707612655961727,0.010520582103522582,0.0],"actuator_force":[-0.07939514033614614,-20.718884453402552,-19.62386337613043,-2.526521194136535,-0.0076257646592239325,-0.021670447829984063,-0.29224831002831103],"issued_joint_targets_rad":[-1.5598150455374218,-1.5605698640890968,1.4594376790966714,-1.4699036048583174,-1.5707628875166022,0.010970422269549255],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.2800000000000002,"joint_targets_rad":[-1.5598150455374218,-1.5605698640890968,1.4594376790966714,-1.4699036048583174,-1.5707628875166022,0.010970422269549255],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.3000000000000002,"qpos":[-1.5640847516943075,-1.565236386883597,1.505181156966198,-1.51056292469965,-1.5707743674536094,0.006704212853287897,0.0029338205453525064,0.00015606057087760297,0.003194307741448449,-0.003429097655706769,0.0029338428061100198,0.00015647603040596755,0.0032003195947158496,-0.0034372439109522676,-0.1470712696697349,0.49556891105823475,0.29989224457978336,1.0,4.301030655639864e-12,1.980668248816373e-11,-1.92511250006793e-17],"qvel":[0.021566157554330168,0.022261867868619865,-0.23192523310872526,0.2044642176048496,0.0001416279571559585,0.021547730530286524,-0.00011700690623898643,-3.8478818038546915e-05,-1.6291288124228015e-05,0.00023221133051171578,-0.00010990193141519592,5.032101476981903e-06,0.00015558318520420323,0.00028112486187442963,-2.9187558386460156e-11,6.338093295145843e-12,1.1913547967458467e-14,-4.572598837589523e-12,-2.105769216137929e-11,-1.1871264053687316e-15],"joint_position_rad":[-1.5640847516943075,-1.565236386883597,1.505181156966198,-1.51056292469965,-1.5707743674536094,0.006704212853287897],"joint_velocity_rad_s":[0.021566157554330168,0.022261867868619865,-0.23192523310872526,0.2044642176048496,0.0001416279571559585,0.021547730530286524],"linkage_position_rad":[0.0029338205453525064,0.00015606057087760297,0.003194307741448449,-0.003429097655706769,0.0029338428061100198,0.00015647603040596755,0.0032003195947158496,-0.0034372439109522676],"tcp_position_m":[-0.1373154794454561,0.492700197711157,0.35570311959628353],"tcp_quaternion_wxyz":[5.570296350038951e-05,0.7071041760773814,0.707109380589059,-7.03851137782861e-05],"object_position_m":[-0.1470712696697349,0.49556891105823475,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.301030655639864e-12,1.980668248816373e-11,-1.92511250006793e-17],"object_linear_velocity_m_s":[-2.9187558386460156e-11,6.338093295145843e-12,1.1913547967458467e-14],"object_angular_velocity_rad_s":[-4.5725988375895704e-12,-2.105769216137928e-11,-1.187126405372264e-15],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313483722390474,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5598104550490972,-1.5711552265800368,1.4489874727515049,-1.474723710291818,-1.5707612824550718,0.010970419361755477,0.0],"actuator_force":[-0.07786973131169361,-20.742426540327415,-19.617275185896233,-2.5268145565689792,-0.00762029644681661,-0.021669798794862416,-0.2922486233848554],"issued_joint_targets_rad":[-1.5593655096179257,-1.5598723980005047,1.4544096019884638,-1.4655741765025287,-1.5707628903659279,0.011419959261874654],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.3000000000000002,"joint_targets_rad":[-1.5593655096179257,-1.5598723980005047,1.4544096019884638,-1.4655741765025287,-1.5707628903659279,0.011419959261874654],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.32000000000000023,"qpos":[-1.5636334340728937,-1.5647285914835003,1.500365103434998,-1.5062896330604347,-1.5707731850781965,0.007154136819754532,0.0029336798780789574,0.00015605970529889026,0.003194176531767574,-0.0034289627228333186,0.002933702307370221,0.00015647820090094992,0.0032001989660361803,-0.0034371062738763163,-0.1470712696703058,0.4955689110583587,0.29989224457978336,1.0,4.186922108264332e-12,1.9281130700192785e-11,-4.2479360059934706e-17],"qvel":[0.021553524731452205,0.023228757129806064,-0.23299021130736633,0.2047472474938392,0.00013567837520702484,0.021545776166708597,-0.0001155919264005471,-3.8554135093919006e-05,-1.3845504785915389e-05,0.00023111293313734106,-0.00010844367735159019,5.247653480877881e-06,0.0001590176743971371,0.000280145293614112,-3.4488463946026575e-11,7.489227595399359e-12,1.174285117742235e-14,1.0618912812904687e-10,4.889949264154648e-10,-4.7718577128562995e-15],"joint_position_rad":[-1.5636334340728937,-1.5647285914835003,1.500365103434998,-1.5062896330604347,-1.5707731850781965,0.007154136819754532],"joint_velocity_rad_s":[0.021553524731452205,0.023228757129806064,-0.23299021130736633,0.2047472474938392,0.00013567837520702484,0.021545776166708597],"linkage_position_rad":[0.0029336798780789574,0.00015605970529889026,0.003194176531767574,-0.0034289627228333186,0.002933702307370221,0.00015647820090094992,0.0032001989660361803,-0.0034371062738763163],"tcp_position_m":[-0.13753899000434608,0.49275793014031566,0.3573909291540064],"tcp_quaternion_wxyz":[4.286894366426972e-05,0.7071036842267046,0.7071098744128584,-5.8507311891218046e-05],"object_position_m":[-0.1470712696703058,0.4955689110583587,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.186922108264332e-12,1.9281130700192785e-11,-4.2479360059934706e-17],"object_linear_velocity_m_s":[-3.4488463946026575e-11,7.489227595399359e-12,1.174285117742235e-14],"object_angular_velocity_rad_s":[1.0618912812904673e-10,4.889949264154648e-10,-4.77185771298188e-15],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313484760589874,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.559360912533751,-1.5704660232665584,1.4439618682885864,-1.4703943489304279,-1.5707612809025495,0.011419956404421283,0.0],"actuator_force":[-0.07636681429585224,-20.76636641803816,-19.610385769876757,-2.5270826843805025,-0.007615749697151841,-0.021667824337484376,-0.2922489312536982],"issued_joint_targets_rad":[-1.5589162765103222,-1.559156909108494,1.4493613040839406,-1.461242539417738,-1.5707628759807757,0.011869193996279847],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.32000000000000023,"joint_targets_rad":[-1.5589162765103222,-1.559156909108494,1.4493613040839406,-1.461242539417738,-1.5707628759807757,0.011869193996279847],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.34000000000000025,"qpos":[-1.5631823250874304,-1.564200941398073,1.4955271716298473,-1.5020107765683337,-1.5707721143573927,0.007603996129155268,0.0029335645586166673,0.00015605884593518536,0.003194070563385125,-0.003428851844814295,0.0029335871494176524,0.0001564803273347785,0.003200103402702238,-0.003436992715434316,-0.14707126967084433,0.49556891105847567,0.29989224457978336,1.0,3.811151763673994e-12,1.7550595993719504e-11,-8.033536110532715e-17],"qvel":[0.02154047012568417,0.024186270631795004,-0.23404678589448963,0.20501333436814695,0.0001303794553890957,0.021542621694188156,-0.00011443109641027423,-3.862975220209623e-05,-1.163985300116645e-05,0.00023025918410742298,-0.00010723920553135883,5.465176789994781e-06,0.0001622201014815793,0.00027941132080350835,-4.321403009433521e-11,9.384060423147412e-12,1.1716483380587501e-14,2.7023273370431327e-10,1.2444199955878597e-09,-1.9181485910884808e-14],"joint_position_rad":[-1.5631823250874304,-1.564200941398073,1.4955271716298473,-1.5020107765683337,-1.5707721143573927,0.007603996129155268],"joint_velocity_rad_s":[0.02154047012568417,0.024186270631795004,-0.23404678589448963,0.20501333436814695,0.0001303794553890957,0.021542621694188156],"linkage_position_rad":[0.0029335645586166673,0.00015605884593518536,0.003194070563385125,-0.003428851844814295,0.0029335871494176524,0.0001564803273347785,0.003200103402702238,-0.003436992715434316],"tcp_position_m":[-0.13776245090949868,0.4928158061824103,0.35907854323697685],"tcp_quaternion_wxyz":[3.132491726486997e-05,0.707103242993794,0.7071103170491719,-4.784378541838317e-05],"object_position_m":[-0.14707126967084433,0.49556891105847567,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.811151763673994e-12,1.7550595993719504e-11,-8.033536110532715e-17],"object_linear_velocity_m_s":[-4.321403009433521e-11,9.384060423147412e-12,1.1716483380587501e-14],"object_angular_velocity_rad_s":[2.702327337043128e-10,1.24441999558786e-09,-1.918148591102895e-14],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348556920824,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5589116730110715,-1.569759040758601,1.4389162194519394,-1.4660627666684525,-1.570761262513541,0.01186919118389364,0.0],"actuator_force":[-0.07488389755599201,-20.790706973773922,-19.603189998019843,-2.527328486874012,-0.007612023613091878,-0.0216646420496307,-0.2922492338920078],"issued_joint_targets_rad":[-1.5584673486399114,-1.5584233560370409,1.4442926173494424,-1.4569085695270416,-1.5707628458290888,0.01231812400991002],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.34000000000000025,"joint_targets_rad":[-1.5584673486399114,-1.5584233560370409,1.4442926173494424,-1.4569085695270416,-1.5707628458290888,0.01231812400991002],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.36000000000000026,"qpos":[-1.562731432907227,-1.563653611017982,1.4906675067320687,-1.4977266664886149,-1.570771143071105,0.008053767781840445,0.002933470008543331,0.0001560579929280016,0.0031939852860336307,-0.003428760673954482,0.0029334927545992795,0.00015648241610694534,0.003200028376864776,-0.0034368988844117702,-0.14707126967139653,0.4955689110585956,0.29989224457978336,1.0,3.6152210488449435e-12,1.6648265519608668e-11,-1.5306574110033735e-16],"qvel":[0.02152701695067093,0.025135512211237696,-0.23509653508099432,0.2052646757420527,0.0001256620702700141,0.021538370843234286,-0.00011347861957424094,-3.8705704143415e-05,-9.62864489342246e-06,0.00022960663970653954,-0.0001062427063324263,5.684674681600946e-06,0.00016523630020833934,0.00027887949316062366,-2.0421329404211384e-11,4.434551001173202e-12,1.1716483380587501e-14,-1.4203870521289988e-10,-6.540970930874e-10,-2.0757724202219904e-15],"joint_position_rad":[-1.562731432907227,-1.563653611017982,1.4906675067320687,-1.4977266664886149,-1.570771143071105,0.008053767781840445],"joint_velocity_rad_s":[0.02152701695067093,0.025135512211237696,-0.23509653508099432,0.2052646757420527,0.0001256620702700141,0.021538370843234286],"linkage_position_rad":[0.002933470008543331,0.0001560579929280016,0.0031939852860336307,-0.003428760673954482,0.0029334927545992795,0.00015648241610694534,0.003200028376864776,-0.0034368988844117702],"tcp_position_m":[-0.13798586150213454,0.4928738309404305,0.36076596238910363],"tcp_quaternion_wxyz":[2.0946893212792266e-05,0.7071028472020033,0.7071107138029109,-3.8277732222729274e-05],"object_position_m":[-0.14707126967139653,0.4955689110585956,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.6152210488449435e-12,1.6648265519608668e-11,-1.5306574110033735e-16],"object_linear_velocity_m_s":[-2.0421329404211384e-11,4.434551001173202e-12,1.1716483380587501e-14],"object_angular_velocity_rad_s":[-1.4203870521290016e-10,-6.540970930874e-10,-2.0757724202369913e-15],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348618962927,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5584627388675398,-1.5690342340971302,1.4338503581425073,-1.4617288405375692,-1.5707612287124508,0.012318121237815984,0.0],"actuator_force":[-0.07341870089385338,-20.81545104279121,-19.59568314672515,-2.5275545986825136,-0.007609027699913895,-0.021660356335659436,-0.2922495315275972],"issued_joint_targets_rad":[-1.5580187288489578,-1.5576716943156914,1.4392033694419757,-1.4525721413248323,-1.570762801237093,0.012766746425656596],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.36000000000000026,"joint_targets_rad":[-1.5580187288489578,-1.5576716943156914,1.4392033694419757,-1.4525721413248323,-1.570762801237093,0.012766746425656596],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.3800000000000003,"qpos":[-1.5622807652786337,-1.563086753549944,1.4857862236209365,-1.4934375722568112,-1.570770260297235,0.008503430708915996,0.0029333924758530834,0.00015605714618636306,0.0031939169715592174,-0.0034286856472129142,0.0029334153716074774,0.00015648447282680503,0.0031999701808013157,-0.003436821214490391,-0.1470712696719858,0.4955689110587234,0.29989224457978336,1.0,3.831309946927315e-12,1.764332167336198e-11,-3.8181905446157914e-16],"qvel":[0.02151318468072436,0.026077493128752436,-0.23614090602931045,0.2055032651872408,0.00012146436024701751,0.021533115499854517,-0.0001126969658104419,-3.878202225214982e-05,-7.774406610634716e-06,0.00022911970869521114,-0.00010541663652907674,5.906157094150565e-06,0.000168103900247391,0.0002785142134727979,-2.2097230822174907e-11,4.798489374521798e-12,1.1708156707902812e-14,-1.1712602610929722e-10,-5.393711550487795e-10,-8.343996977600841e-15],"joint_position_rad":[-1.5622807652786337,-1.563086753549944,1.4857862236209365,-1.4934375722568112,-1.570770260297235,0.008503430708915996],"joint_velocity_rad_s":[0.02151318468072436,0.026077493128752436,-0.23614090602931045,0.2055032651872408,0.00012146436024701751,0.021533115499854517],"linkage_position_rad":[0.0029333924758530834,0.00015605714618636306,0.0031939169715592174,-0.0034286856472129142,0.0029334153716074774,0.00015648447282680503,0.0031999701808013157,-0.003436821214490391],"tcp_position_m":[-0.13820922100717636,0.4929320097376465,0.3624531869676456],"tcp_quaternion_wxyz":[1.1622789575865085e-05,0.7071024921940698,0.7071110694336096,-2.9703579120904243e-05],"object_position_m":[-0.1470712696719858,0.4955689110587234,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.831309946927315e-12,1.764332167336198e-11,-3.8181905446157914e-16],"object_linear_velocity_m_s":[-2.2097230822174907e-11,4.798489374521798e-12,1.1708156707902812e-14],"object_angular_velocity_rad_s":[-1.1712602610929791e-10,-5.393711550487793e-10,-8.343996977612674e-15],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348665573593,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.558014112909749,-1.5682915556353063,1.4287641119883363,-1.4573924460318883,-1.570761180786545,0.012766743689529713,0.0],"actuator_force":[-0.0719691345202591,-20.840601422225973,-19.587860853476286,-2.527763406262693,-0.007606680679600686,-0.021655059678592714,-0.29224982436133046],"issued_joint_targets_rad":[-1.557570420400179,-1.5569018763222517,1.434093383571391,-1.4482331278178853,-1.570762743402057,0.01321505794877369],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.3800000000000003,"joint_targets_rad":[-1.557570420400179,-1.5569018763222517,1.434093383571391,-1.4482331278178853,-1.570762743402057,0.01321505794877369],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.4000000000000003,"qpos":[-1.5618303295967364,-1.5625005027669983,1.4808834093495633,-1.489143725344474,-1.5707694562748782,0.008952965547156239,0.0029333288857991543,0.0001560563054462311,0.0031938625654913803,-0.00342862384458791,0.0029333519263293104,0.00015648650242672696,0.0031999257786765123,-0.0034367567826404286,-0.14707126967255965,0.495568911058848,0.29989224457978336,1.0,3.9817378393141984e-12,1.8335973098311343e-11,-9.327708118125996e-16],"qvel":[0.02149898934527459,0.027013141315583186,-0.23718122803251224,0.20573091214291644,0.00011773097835070815,0.021526936825367937,-0.00011205537985745973,-3.885873531907339e-05,-6.046393826036192e-06,0.00022876923599865877,-0.0001047302274340803,6.129640053411927e-06,0.00017085381226814286,0.00027828632031232136,-2.4243139714048737e-11,5.264508150743346e-12,1.1712320044245157e-14,-7.410998884705415e-11,-3.4128102842170855e-10,-3.3540161512001144e-14],"joint_position_rad":[-1.5618303295967364,-1.5625005027669983,1.4808834093495633,-1.489143725344474,-1.5707694562748782,0.008952965547156239],"joint_velocity_rad_s":[0.02149898934527459,0.027013141315583186,-0.23718122803251224,0.20573091214291644,0.00011773097835070815,0.021526936825367937],"linkage_position_rad":[0.0029333288857991543,0.0001560563054462311,0.0031938625654913803,-0.00342862384458791,0.0029333519263293104,0.00015648650242672696,0.0031999257786765123,-0.0034367567826404286],"tcp_position_m":[-0.13843252853367408,0.4929903481338955,0.3641402171566893],"tcp_quaternion_wxyz":[3.2512905215966796e-06,0.7071021737805471,0.7071113882120078,-2.2025903453975684e-05],"object_position_m":[-0.14707126967255965,0.495568911058848,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.9817378393141984e-12,1.8335973098311343e-11,-9.327708118125996e-16],"object_linear_velocity_m_s":[-2.4243139714048737e-11,5.264508150743346e-12,1.1712320044245157e-14],"object_angular_velocity_rad_s":[-7.410998884705601e-11,-3.4128102842170814e-10,-3.354016151202679e-14],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486995266554,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5575657983675781,-1.5675309549460403,1.423657304205196,-1.4530534570595426,-1.5707611198982283,0.01321505524469531,0.0],"actuator_force":[-0.0705332797929259,-20.866160884317196,-19.579719075729372,-2.527957071825881,-0.007604909510178004,-0.02164883376725779,-0.2922501125699655],"issued_joint_targets_rad":[-1.5571224269840276,-1.5561138512125676,1.428962478351247,-1.4438914004660377,-1.5707626734039588,0.013663054859629969],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.4000000000000003,"joint_targets_rad":[-1.5571224269840276,-1.5561138512125676,1.428962478351247,-1.4438914004660377,-1.5707626734039588,0.013663054859629969],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.4200000000000003,"qpos":[-1.5613801329716646,-1.561894974582463,1.4759591253697415,-1.4848453227488656,-1.5707687222817523,0.009402354434815356,0.0029332767186557133,0.00015605547031738153,0.0031938195654045006,-0.0034285728730576513,0.0029332998996144367,0.00015648850925759989,0.0031998926850807866,-0.0034367031930320918,-0.14707126967314935,0.495568911058976,0.29989224457978336,1.0,4.25496013338109e-12,1.9594202064676596e-11,-2.3971790081151394e-15],"qvel":[0.021484443781481084,0.027943309784370735,-0.23821872448435574,0.20594925982962806,0.00011441241240586631,0.021519906251140572,-0.00011152865876933417,-3.8935870195590864e-05,-4.41937459601037e-06,0.00022853134217453905,-0.00010415826235755405,6.355144920297653e-06,0.00017351144497553995,0.0002781719284138683,-2.8040456381300435e-11,6.0890921627812785e-12,1.171509560180672e-14,-1.352237336527491e-11,-6.226713681588678e-11,-1.348214107632761e-13],"joint_position_rad":[-1.5613801329716646,-1.561894974582463,1.4759591253697415,-1.4848453227488656,-1.5707687222817523,0.009402354434815356],"joint_velocity_rad_s":[0.021484443781481084,0.027943309784370735,-0.23821872448435574,0.20594925982962806,0.00011441241240586631,0.021519906251140572],"linkage_position_rad":[0.0029332767186557133,0.00015605547031738153,0.0031938195654045006,-0.0034285728730576513,0.0029332998996144367,0.00015648850925759989,0.0031998926850807866,-0.0034367031930320918],"tcp_position_m":[-0.1386557830742609,0.4930488519435077,0.36582705297928414],"tcp_quaternion_wxyz":[-4.259187074332172e-06,0.7071018881932212,0.7071116739707111,-1.5158458202450757e-05],"object_position_m":[-0.14707126967314935,0.495568911058976,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.25496013338109e-12,1.9594202064676596e-11,-2.3971790081151394e-15],"object_linear_velocity_m_s":[-2.8040456381300435e-11,6.0890921627812785e-12,1.171509560180672e-14],"object_angular_velocity_rad_s":[-1.3522373365280492e-11,-6.226713681588556e-11,-1.3482141076324424e-13],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487230925853,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.557117798901191,-1.5667523787201516,1.4185297534460646,-1.4487117458928411,-1.5707610470962812,0.013663052184048412,0.0],"actuator_force":[-0.06910937164548159,-20.892132189125732,-19.571254053611483,-2.5281375549506038,-0.00760364850498263,-0.02164175049752881,-0.2922503963078731],"issued_joint_targets_rad":[-1.5566747527298677,-1.5553075648365176,1.4238104676370984,-1.439546829122274,-1.5707625922161421,0.014110733002510686],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.4200000000000003,"joint_targets_rad":[-1.5566747527298677,-1.5553075648365176,1.4238104676370984,-1.439546829122274,-1.5707625922161421,0.014110733002510686],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.44000000000000034,"qpos":[-1.5609301822903114,-1.5612702684633644,1.4710134095286043,-1.480542530142562,-1.5707680505243837,0.009851580825956174,0.0029332339095406892,0.00015605464032058473,0.0031937859212350156,-0.0034285307714809073,0.002933257227103356,0.00015649049716993382,0.0031998688655034695,-0.0034366584819120697,-0.14707126967372974,0.495568911059102,0.29989224457978336,1.0,4.291127724262504e-12,1.976076536538689e-11,-5.548979745624117e-15],"qvel":[0.02146955784805872,0.02886878428925466,-0.2392545237618889,0.20615980144923904,0.00011146437666973746,0.021512086359841014,-0.00011109615004361257,-3.9013452349031903e-05,-2.8726323181003852e-06,0.00022838647236496755,-0.00010368007468657252,6.582697844509529e-06,0.0001760977021361299,0.0002781514770698801,-3.347184262451428e-11,7.268543344650731e-12,1.1708156707902812e-14,8.44654835424293e-11,3.889645211110531e-10,-5.419375830360302e-13],"joint_position_rad":[-1.5609301822903114,-1.5612702684633644,1.4710134095286043,-1.480542530142562,-1.5707680505243837,0.009851580825956174],"joint_velocity_rad_s":[0.02146955784805872,0.02886878428925466,-0.2392545237618889,0.20615980144923904,0.00011146437666973746,0.021512086359841014],"linkage_position_rad":[0.0029332339095406892,0.00015605464032058473,0.0031937859212350156,-0.0034285307714809073,0.002933257227103356,0.00015649049716993382,0.0031998688655034695,-0.0034366584819120697],"tcp_position_m":[-0.13887898350363098,0.49310752725507956,0.36751369430834635],"tcp_quaternion_wxyz":[-1.0991427867942074e-05,0.7071016320430351,0.707111930149566,-9.023290716478626e-06],"object_position_m":[-0.14707126967372974,0.495568911059102,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.291127724262504e-12,1.976076536538689e-11,-5.548979745624117e-15],"object_linear_velocity_m_s":[-3.347184262451428e-11,7.268543344650731e-12,1.1708156707902812e-14],"object_angular_velocity_rad_s":[8.44654835424122e-11,3.8896452111105684e-10,-5.419375830360425e-13],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487381295413,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5566701186119514,-1.5659557706539462,1.4133812736381943,-1.444367183116908,-1.5707609633261266,0.014110730352205647,0.0],"actuator_force":[-0.06769578250350605,-20.918518096865682,-19.562462276064707,-2.5283066320969283,-0.007602838538446122,-0.0216338728593648,-0.29225067570855134],"issued_joint_targets_rad":[-1.5562274022215716,-1.5544829596393328,1.4186371603509085,-1.4351992819719825,-1.5707625007150319,0.014558087769976724],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.44000000000000034,"joint_targets_rad":[-1.5562274022215716,-1.5544829596393328,1.4186371603509085,-1.4351992819719825,-1.5707625007150319,0.014558087769976724],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.46000000000000035,"qpos":[-1.560480484274253,-1.5606264686974851,1.466046277857614,-1.4762354847154724,-1.570767434039743,0.010300629321097637,0.0029331987663180274,0.000156053814916146,0.003193759953593552,-0.0034284959326467673,0.0029332222171345643,0.00015649246958221636,0.0031998526547898447,-0.003436621039637609,-0.14707126967428855,0.49556891105922335,0.29989224457978336,1.0,4.032606122758142e-12,1.8570242910982818e-11,-1.117205469770003e-14],"qvel":[0.021454338601233743,0.02979029031217914,-0.24028966913068317,0.20636389483633888,0.00010884726602611396,0.021503531661830243,-0.00011074093053887469,-3.9091506338299416e-05,-1.3891481481919962e-06,0.00022831861690431662,-0.00010327872674326782,6.8123294048909325e-06,0.00017862980047451824,0.0002782089504796973,-4.177497596735335e-11,9.071646299829644e-12,1.1706768929122032e-14,2.3569810208215617e-10,1.0853826070686432e-09,-2.1784064188910908e-12],"joint_position_rad":[-1.560480484274253,-1.5606264686974851,1.466046277857614,-1.4762354847154724,-1.570767434039743,0.010300629321097637],"joint_velocity_rad_s":[0.021454338601233743,0.02979029031217914,-0.24028966913068317,0.20636389483633888,0.00010884726602611396,0.021503531661830243],"linkage_position_rad":[0.0029331987663180274,0.000156053814916146,0.003193759953593552,-0.0034284959326467673,0.0029332222171345643,0.00015649246958221636,0.0031998526547898447,-0.003436621039637609],"tcp_position_m":[-0.139102128575998,0.49316638045336264,0.36920014087643743],"tcp_quaternion_wxyz":[-1.702026264889859e-05,0.7071014022821083,0.7071121598363193,-3.549946070433858e-06],"object_position_m":[-0.14707126967428855,0.49556891105922335,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.032606122758142e-12,1.8570242910982818e-11,-1.117205469770003e-14],"object_linear_velocity_m_s":[-4.177497596735335e-11,9.071646299829644e-12,1.1706768929122032e-14],"object_angular_velocity_rad_s":[2.356981020820995e-10,1.0853826070686556e-09,-2.1784064188911918e-12],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487461579478,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5562227620577815,-1.5651410713250342,1.408211673806452,-1.4400196375766552,-1.5707608694391988,0.014558085142027104,0.0],"actuator_force":[-0.0662910075502623,-20.94532137997021,-19.553340450050655,-2.5284659142253076,-0.007602426330549861,-0.021625255718291214,-0.2922509508862189],"issued_joint_targets_rad":[-1.5557803805176376,-1.5536399745467968,1.4134423602897808,-1.430848625471191,-1.5707623996889855,0.015005114082679016],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.46000000000000035,"joint_targets_rad":[-1.5557803805176376,-1.5536399745467968,1.4134423602897808,-1.430848625471191,-1.5707623996889855,0.015005114082679016],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.48000000000000037,"qpos":[-1.5600310455345876,-1.5599636455267074,1.461057726172302,-1.4719242977386422,-1.5707668666071477,0.010749485512181687,0.00293316990231682,0.0001560529935263865,0.003193740286823535,-0.0034284670393994812,0.002933193483468121,0.0001564944295395882,0.003199842690327999,-0.003436589546784134,-0.1470712696748373,0.4955689110593426,0.29989224457978336,1.0,3.664892629801257e-12,1.6876871396557812e-11,-1.9431910462645453e-14],"qvel":[0.021438790435550515,0.030708499447604176,-0.24132512777469947,0.20656277571029064,0.0001065256663320355,0.02149428927627053,-0.0001104491336287503,-3.917005617484812e-05,4.5069056357632646e-08,0.00022831467319387588,-0.00010294033688487141,7.044074275231425e-06,0.0001811219401363357,0.0002783312396343601,-2.063182760340977e-11,4.480298562785025e-12,1.1715095601806722e-14,-1.4977102231387435e-10,-6.896981613515519e-10,-2.357418160722924e-13],"joint_position_rad":[-1.5600310455345876,-1.5599636455267074,1.461057726172302,-1.4719242977386422,-1.5707668666071477,0.010749485512181687],"joint_velocity_rad_s":[0.021438790435550515,0.030708499447604176,-0.24132512777469947,0.20656277571029064,0.0001065256663320355,0.02149428927627053],"linkage_position_rad":[0.00293316990231682,0.0001560529935263865,0.003193740286823535,-0.0034284670393994812,0.002933193483468121,0.0001564944295395882,0.003199842690327999,-0.003436589546784134],"tcp_position_m":[-0.1393252169214931,0.49322541824356186,0.3708863922845046],"tcp_quaternion_wxyz":[-2.2413331899787063e-05,0.7071011961694592,0.7071123658030639,1.325253078709362e-06],"object_position_m":[-0.1470712696748373,0.4955689110593426,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.664892629801257e-12,1.6876871396557812e-11,-1.9431910462645453e-14],"object_linear_velocity_m_s":[-2.063182760340977e-11,4.480298562785025e-12,1.1715095601806722e-14],"object_angular_velocity_rad_s":[-1.4977102231390912e-10,-6.896981613515443e-10,-2.357418160722993e-13],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487484216157,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5557757342730636,-1.5643082180546928,1.4030207578811136,-1.43566897632198,-1.5707607662014837,0.015005111474433865,0.0],"actuator_force":[-0.0648936511724969,-20.97254483501274,-19.543885472497095,-2.528616862697959,-0.007602363801197498,-0.021615946500963545,-0.29225122193667896],"issued_joint_targets_rad":[-1.5553336931764024,-1.5527785448328035,1.408225865917086,-1.4264947242835233,-1.570762289846348,0.015451806364063651],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.48000000000000037,"joint_targets_rad":[-1.5553336931764024,-1.5527785448328035,1.408225865917086,-1.4264947242835233,-1.570762289846348,0.015451806364063651],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5000000000000003,"qpos":[-1.5595818726244084,-1.5592818561579227,1.4560477314992046,-1.4676090568763789,-1.5707663426693699,0.011198135839999781,0.002933146181192969,0.00015605217555271416,0.0031937257941426146,-0.0034284430122857343,0.002933169890151234,0.00015649637976311337,0.003199837857308287,-0.0034365629217678953,-0.14707126967545034,0.49556891105947576,0.29989224457978336,1.0,3.914980628820736e-12,1.802851878221821e-11,-4.882184535396094e-14],"qvel":[0.02142291518990164,0.03162403525103141,-0.24236179904341928,0.20675756966310455,0.0001044679152523853,0.02148439952349503,-0.00011020939783381202,-3.924912576271001e-05,1.4415319537223686e-06,0.00022836392248158256,-0.00010265352806698158,7.277970993486593e-06,0.00018358585426530715,0.00027850761790256396,-2.239044753259906e-11,4.8621937666768825e-12,1.1710932265464377e-14,-1.2866645663404888e-10,-5.925110818159898e-10,-9.476075919677617e-13],"joint_position_rad":[-1.5595818726244084,-1.5592818561579227,1.4560477314992046,-1.4676090568763789,-1.5707663426693699,0.011198135839999781],"joint_velocity_rad_s":[0.02142291518990164,0.03162403525103141,-0.24236179904341928,0.20675756966310455,0.0001044679152523853,0.02148439952349503],"linkage_position_rad":[0.002933146181192969,0.00015605217555271416,0.0031937257941426146,-0.0034284430122857343,0.002933169890151234,0.00015649637976311337,0.003199837857308287,-0.0034365629217678953],"tcp_position_m":[-0.13954824704143096,0.4932846476783862,0.3725724480096674],"tcp_quaternion_wxyz":[-2.72317760850109e-05,0.7071010112400741,0.7071125505389223,5.659857471664077e-06],"object_position_m":[-0.14707126967545034,0.49556891105947576,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.914980628820736e-12,1.802851878221821e-11,-4.882184535396094e-14],"object_linear_velocity_m_s":[-2.239044753259906e-11,4.8621937666768825e-12,1.1710932265464377e-14],"object_angular_velocity_rad_s":[-1.286664566341409e-10,-5.925110818159698e-10,-9.476075919677692e-13],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487459378034,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.555329040793653,-1.563457144755025,1.3978083244881774,-1.4313150645510075,-1.570760654301293,0.015451803773115893,0.0],"actuator_force":[-0.06350241445034044,-21.000191294617252,-19.53409440468704,-2.5287608036247775,-0.007602607486887791,-0.02160598579144679,-0.2922514889377062],"issued_joint_targets_rad":[-1.5548873462868689,-1.5518986019672534,1.40298747013358,-1.4221374412156347,-1.5707621718227724,0.015898158509464168],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5000000000000003,"joint_targets_rad":[-1.5548873462868689,-1.5518986019672534,1.40298747013358,-1.4221374412156347,-1.5707621718227724,0.015898158509464168],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5200000000000004,"qpos":[-1.5591329720896063,-1.5585811456615324,1.451016253344661,-1.4632898282706546,-1.5707658572619947,0.01164656746234913,0.002933126671742035,0.00015605136038814425,0.003193715552686681,-0.00342842296665288,0.0029331505063347452,0.00015649832269274216,0.0031998372438764014,-0.0034365402779446613,-0.14707126967604914,0.4955689110596059,0.29989224457978336,1.0,4.098106853689545e-12,1.887168807759438e-11,-1.2018066631078198e-13],"qvel":[0.02140671221932928,0.032537478612887166,-0.24340052200239776,0.2069493030052741,0.00010264570841684303,0.02147389643483248,-0.00011001241488219971,-3.932873912302472e-05,2.809725238594354e-06,0.00022845760032610794,-0.00010240897582243539,7.514061941147641e-06,0.0001860312600291294,0.0002787293133333895,-2.450708750667469e-11,5.321872550887277e-12,1.1710932265464377e-14,-8.98093248999987e-11,-4.1357571284212925e-10,-3.809063801388398e-12],"joint_position_rad":[-1.5591329720896063,-1.5585811456615324,1.451016253344661,-1.4632898282706546,-1.5707658572619947,0.01164656746234913],"joint_velocity_rad_s":[0.02140671221932928,0.032537478612887166,-0.24340052200239776,0.2069493030052741,0.00010264570841684303,0.02147389643483248],"linkage_position_rad":[0.002933126671742035,0.00015605136038814425,0.003193715552686681,-0.00342842296665288,0.0029331505063347452,0.00015649832269274216,0.0031998372438764014,-0.0034365402779446613],"tcp_position_m":[-0.13977121730236367,0.493344076188269,0.3742583074121246],"tcp_quaternion_wxyz":[-3.1530859702437695e-05,0.7071008452770028,0.707112716279371,9.505879706293452e-06],"object_position_m":[-0.14707126967604914,0.4955689110596059,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.098106853689545e-12,1.887168807759438e-11,-1.2018066631078198e-13],"object_linear_velocity_m_s":[-2.450708750667469e-11,5.321872550887277e-12,1.1710932265464377e-14],"object_angular_velocity_rad_s":[-8.980932490024187e-11,-4.135757128420764e-10,-3.809063801388445e-12],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487395382442,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5548826876875246,-1.5625877817586897,1.3925741667197862,-1.4269577655511934,-1.5707605343563353,0.01589815593362686,0.0],"actuator_force":[-0.06211608356852594,-21.028263639469515,-19.52396444879014,-2.5288989407968074,-0.007603118011957122,-0.021595407844381853,-0.2922517519503159],"issued_joint_targets_rad":[-1.5544413465060214,-1.551000073441963,1.3977269600257394,-1.4177766371507956,-1.5707620461878697,0.01634416384870702],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5200000000000004,"joint_targets_rad":[-1.5544413465060214,-1.551000073441963,1.3977269600257394,-1.4177766371507956,-1.5707620461878697,0.01634416384870702],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5400000000000004,"qpos":[-1.5586843505187222,-1.5578615477663367,1.4459632348184663,-1.4589666584194323,-1.5707654059501786,0.012094768131272398,0.00293311061086763,0.00015605054742743593,0.0031937088066730777,-0.0034284061774940366,0.002933134569244614,0.00015650026052326137,0.0031998401043897237,-0.0034365208884167705,-0.14707126967663098,0.4955689110597323,0.29989224457978336,1.0,4.180051214795096e-12,1.9249028319818148e-11,-2.864876071455832e-13],"qvel":[0.021390178431494475,0.03344937271464725,-0.24444208236672005,0.20713891258047576,0.00010103374629351415,0.021462808183787607,-0.0001098505594957431,-3.940892072932024e-05,4.157474776874972e-06,0.00022858854719970832,-0.00010219903797874716,7.752393111066256e-06,0.000188466228476115,0.00027898915662825414,-2.7428651992088764e-11,5.956308599538676e-12,1.1709544486683595e-14,-2.6423435338544474e-11,-1.2167862231078171e-10,-1.5311113546613424e-11],"joint_position_rad":[-1.5586843505187222,-1.5578615477663367,1.4459632348184663,-1.4589666584194323,-1.5707654059501786,0.012094768131272398],"joint_velocity_rad_s":[0.021390178431494475,0.03344937271464725,-0.24444208236672005,0.20713891258047576,0.00010103374629351415,0.021462808183787607],"linkage_position_rad":[0.00293311061086763,0.00015605054742743593,0.0031937088066730777,-0.0034284061774940366,0.002933134569244614,0.00015650026052326137,0.0031998401043897237,-0.0034365208884167705],"tcp_position_m":[-0.13999412592879676,0.49340371161522956,0.37594396974124045],"tcp_quaternion_wxyz":[-3.536053544277752e-05,0.7071006962861811,0.7071128650325583,1.2910326172309698e-05],"object_position_m":[-0.14707126967663098,0.4955689110597323,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.180051214795096e-12,1.9249028319818148e-11,-2.864876071455832e-13],"object_linear_velocity_m_s":[-2.7428651992088764e-11,5.956308599538676e-12,1.1709544486683595e-14],"object_angular_velocity_rad_s":[-2.642343533920364e-11,-1.2167862231063856e-10,-1.5311113546613417e-11],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487299027415,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5544366815919206,-1.5617000556287082,1.3873180718819729,-1.4225969406380246,-1.570760406920139,0.016344161285991893,0.0],"actuator_force":[-0.06073351899431145,-21.05676481060209,-19.513492926299023,-2.5290323673436887,-0.007603859609616848,-0.02158424101901346,-0.2922520110182397],"issued_joint_targets_rad":[-1.55399570110309,-1.5500828825713484,1.3924441165877515,-1.4134121709804277,-1.5707619134512425,0.016789815101777877],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5400000000000004,"joint_targets_rad":[-1.55399570110309,-1.5500828825713484,1.3924441165877515,-1.4134121709804277,-1.5707619134512425,0.016789815101777877],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5600000000000004,"qpos":[-1.5582360145925385,-1.5571230855584952,1.440888603623807,-1.4546395758684592,-1.5707649847720218,0.01254272607784717,0.002933097373232758,0.00015604973607350275,0.003193704937208975,-0.0034283920506305824,0.002933121453836147,0.00015650219523560404,0.0031998458293167357,-0.0034365041572161016,-0.14707126967719147,0.495568911059854,0.29989224457978336,1.0,4.109371352137636e-12,1.8923483210638566e-11,-6.444241189262268e-13],"qvel":[0.021373308288726894,0.03436022762294927,-0.24548721889299305,0.20732725464868582,9.960941753199597e-05,0.021451157444039352,-0.00010971758596695487,-3.948969575440435e-05,5.491250663353577e-06,0.00022875091960163394,-0.000102017451130924,7.993014219534936e-06,0.00019089748862914947,0.00027928129333790376,-3.1924660470350445e-11,6.9326895817343364e-12,1.1713707823025939e-14,7.101897006876722e-11,3.270273208717134e-10,-6.154551798002299e-11],"joint_position_rad":[-1.5582360145925385,-1.5571230855584952,1.440888603623807,-1.4546395758684592,-1.5707649847720218,0.01254272607784717],"joint_velocity_rad_s":[0.021373308288726894,0.03436022762294927,-0.24548721889299305,0.20732725464868582,9.960941753199597e-05,0.021451157444039352],"linkage_position_rad":[0.002933097373232758,0.00015604973607350275,0.003193704937208975,-0.0034283920506305824,0.002933121453836147,0.00015650219523560404,0.0031998458293167357,-0.0034365041572161016],"tcp_position_m":[-0.1402169709944461,0.4934635622509568,0.3776294341408714],"tcp_quaternion_wxyz":[-3.876595421458253e-05,0.7071005624737149,0.7071129986029442,1.591567789014938e-05],"object_position_m":[-0.14707126967719147,0.495568911059854,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.109371352137636e-12,1.8923483210638566e-11,-6.444241189262268e-13],"object_linear_velocity_m_s":[-3.1924660470350445e-11,6.9326895817343364e-12,1.1713707823025939e-14],"object_angular_velocity_rad_s":[7.10189700668594e-11,3.270273208721277e-10,-6.154551798002309e-11],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348717586705,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5539910297574617,-1.5607938889449469,1.3820398212161624,-1.4182324490911675,-1.5707602724878862,0.016789812550375934,0.0],"actuator_force":[-0.05935364533752363,-21.085697822083148,-19.502677258092262,-2.5291620762228604,-0.007604799685395847,-0.021572508139552582,-0.29225226616795585],"issued_joint_targets_rad":[-1.5535504180122701,-1.5491469482644389,1.3871387144131822,-1.4090438995331518,-1.5707617740679547,0.017235104326048783],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5600000000000004,"joint_targets_rad":[-1.5535504180122701,-1.5491469482644389,1.3871387144131822,-1.4090438995331518,-1.5707617740679547,0.017235104326048783],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5800000000000004,"qpos":[-1.557787971134185,-1.5563657720911441,1.4357922729234271,-1.4503085927341508,-1.570764590187887,0.012990429902999518,0.0029330864463886245,0.00015604892574244857,0.0031937034375538434,-0.003428380099097624,0.0029331106479252448,0.00015650412862342714,0.0031998539205770815,-0.0034364895956682487,-0.1470712696777526,0.4955689110599758,0.29989224457978336,1.0,4.0664354441117035e-12,1.8725686827235013e-11,-1.4510313757704332e-12],"qvel":[0.021356093771619705,0.035270524572953176,-0.2465366293001204,0.20751511292885713,9.835251512105372e-05,0.021438961674386393,-0.00010960837952784233,-3.957109037103403e-05,6.816415909541829e-06,0.00022893995548190602,-0.00010185908190173534,8.235978809199411e-06,0.00019333067718437468,0.0002796009484865593,-3.962409305867234e-11,8.604714447041875e-12,1.1709544486683595e-14,2.1197053168802435e-10,9.761031464225013e-10,-2.4739210275309583e-10],"joint_position_rad":[-1.557787971134185,-1.5563657720911441,1.4357922729234271,-1.4503085927341508,-1.570764590187887,0.012990429902999518],"joint_velocity_rad_s":[0.021356093771619705,0.035270524572953176,-0.2465366293001204,0.20751511292885713,9.835251512105372e-05,0.021438961674386393],"linkage_position_rad":[0.0029330864463886245,0.00015604892574244857,0.0031937034375538434,-0.003428380099097624,0.0029331106479252448,0.00015650412862342714,0.0031998539205770815,-0.0034364895956682487],"tcp_position_m":[-0.1404397504118445,0.49352363687978545,0.3793146996539769],"tcp_quaternion_wxyz":[-4.178792621648857e-05,0.7071004422253823,0.7071131186125398,1.8560325159317354e-05],"object_position_m":[-0.1470712696777526,0.4955689110599758,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.0664354441117035e-12,1.8725686827235013e-11,-1.4510313757704332e-12],"object_linear_velocity_m_s":[-3.962409305867234e-11,8.604714447041875e-12,1.1709544486683595e-14],"object_angular_velocity_rad_s":[2.1197053168159188e-10,9.76103146423898e-10,-2.473921027530959e-10],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487030436987,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5535457401007242,-1.559869200063706,1.3767391895904446,-1.4138641480876792,-1.5707601315016984,0.01723510178431276,0.0],"actuator_force":[-0.05797544172628477,-21.115065774305094,-19.49151494591706,-2.529288969649997,-0.0076059084177586556,-0.021560226782018077,-0.2922525174085456],"issued_joint_targets_rad":[-1.5531055058950114,-1.5481921847635367,1.381810521351215,-1.4046716775010384,-1.5707616284434862,0.017680022853943888],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5800000000000004,"joint_targets_rad":[-1.5531055058950114,-1.5481921847635367,1.381810521351215,-1.4046716775010384,-1.5707616284434862,0.017680022853943888],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6000000000000004,"qpos":[-1.557340227160553,-1.555589610910202,1.4306741420905584,-1.4459737060734792,-1.5707642190350168,0.01343786847285297,0.002933077410391935,0.00015604811586673493,0.0031937038928443583,-0.0034283699237966916,0.0029331017318078995,0.00015650606231629088,0.003199863971341518,-0.0034364768030330705,-0.14707126967828404,0.49556891106009116,0.29989224457978336,1.0,3.613962952566102e-12,1.6642053686707398e-11,-2.3890673790414313e-12],"qvel":[0.021338524302329766,0.03618071999309467,-0.24759097578767578,0.20770320588297014,9.724498186806783e-05,0.02142623333249107,-0.00010951875270662887,-3.965313201830273e-05,8.137430541802615e-06,0.00022915178141799978,-0.00010171972317246094,8.481344331710584e-06,0.00019577054358689918,0.00027994423338085703,-2.0250674563549953e-11,4.39760459187323e-12,1.1706768929122032e-14,-1.5073540729502935e-10,-6.941273593585519e-10,-2.677215768384167e-11],"joint_position_rad":[-1.557340227160553,-1.555589610910202,1.4306741420905584,-1.4459737060734792,-1.5707642190350168,0.01343786847285297],"joint_velocity_rad_s":[0.021338524302329766,0.03618071999309467,-0.24759097578767578,0.20770320588297014,9.724498186806783e-05,0.02142623333249107],"linkage_position_rad":[0.002933077410391935,0.00015604811586673493,0.0031937038928443583,-0.0034283699237966916,0.0029331017318078995,0.00015650606231629088,0.003199863971341518,-0.0034364768030330705],"tcp_position_m":[-0.14066246192009826,0.49358394482738677,0.3809997652265607],"tcp_quaternion_wxyz":[-4.4463337766672085e-05,0.7071003340881199,0.7071132265200171,2.087896044242716e-05],"object_position_m":[-0.14707126967828404,0.49556891106009116,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.613962952566102e-12,1.6642053686707398e-11,-2.3890673790414313e-12],"object_linear_velocity_m_s":[-2.0250674563549953e-11,4.39760459187323e-12,1.1706768929122032e-14],"object_angular_velocity_rad_s":[-1.5073540729923706e-10,-6.941273593576382e-10,-2.6772157683841676e-11],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486866439183,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5531008212663981,-1.5589259028456157,1.3714159451555077,-1.409491892632007,-1.570759984355429,0.017680020320372396,0.0],"actuator_force":[-0.05659793262202584,-21.14487186806491,-19.480003555031544,-2.5294138675609474,-0.0076071583928296604,-0.021547409489393488,-0.29225276473059625],"issued_joint_targets_rad":[-1.552660974213669,-1.5472185013439665,1.3764592981213608,-1.4002953573626074,-1.5707614769382188,0.018124561219280386],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6000000000000004,"joint_targets_rad":[-1.552660974213669,-1.5472185013439665,1.3764592981213608,-1.4002953573626074,-1.5707614769382188,0.018124561219280386],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6200000000000004,"qpos":[-1.5568927899359135,-1.5547945965008307,1.425534097351763,-1.4416348991152068,-1.570763868486912,0.01388503081710081,0.0029330699211005088,0.0001560473058969479,0.0031937059634806445,-0.0034283611976318176,0.0029330943615576443,0.00015650799779905043,0.0031998756494811586,-0.0034364654506230064,-0.14707126967891287,0.4955689110602277,0.29989224457978336,1.0,3.945844976864427e-12,1.8170284583465348e-11,-6.159680404715769e-12],"qvel":[0.021320586622751738,0.03709124932236868,-0.2486508902186773,0.20789219331601122,9.62706821989082e-05,0.0214129800161525,-0.00010944527848395311,-3.973584966989775e-05,9.458019577393448e-06,0.00022938325541289143,-0.00010159592709821067,8.729172384123856e-06,0.00019822112003972073,0.00028030798746463267,-2.2372870776926423e-11,4.8584751746510034e-12,1.1708156707902814e-14,-1.3630637075552747e-10,-6.27681381485938e-10,-1.0761568787622548e-10],"joint_position_rad":[-1.5568927899359135,-1.5547945965008307,1.425534097351763,-1.4416348991152068,-1.570763868486912,0.01388503081710081],"joint_velocity_rad_s":[0.021320586622751738,0.03709124932236868,-0.2486508902186773,0.20789219331601122,9.62706821989082e-05,0.0214129800161525],"linkage_position_rad":[0.0029330699211005088,0.0001560473058969479,0.0031937059634806445,-0.0034283611976318176,0.0029330943615576443,0.00015650799779905043,0.0031998756494811586,-0.0034364654506230064],"tcp_position_m":[-0.14088510307051033,0.4936444960161526,0.38268462971097184],"tcp_quaternion_wxyz":[-4.682552812481318e-05,0.7071002367533007,0.7071133236379098,2.2902933501972196e-05],"object_position_m":[-0.14707126967891287,0.4955689110602277,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.945844976864427e-12,1.8170284583465348e-11,-6.159680404715769e-12],"object_linear_velocity_m_s":[-2.2372870776926423e-11,4.8584751746510034e-12,1.1708156707902814e-14],"object_angular_velocity_rad_s":[-1.363063707671709e-10,-6.276813814834096e-10,-1.0761568787622549e-10],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486686893215,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5526562827008152,-1.557963906346196,1.3660698489591283,-1.40511553548237,-1.5707598313990008,0.01812455869250357,0.0],"actuator_force":[-0.05522017890416464,-21.17511941967814,-19.468140697798844,-2.52953751518271,-0.007608524264242078,-0.021534063913870582,-0.2922530081049968],"issued_joint_targets_rad":[-1.5522168333183373,-1.546225801967754,1.3710847978789638,-1.3959147893021577,-1.5707613198714871,0.018568709070436937],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6200000000000004,"joint_targets_rad":[-1.5522168333183373,-1.546225801967754,1.3710847978789638,-1.3959147893021577,-1.5707613198714871,0.018568709070436937],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6400000000000005,"qpos":[-1.5564456670287172,-1.553980714657928,1.4203720123274226,-1.4372921423653775,-1.570763536016957,0.014331906028857807,0.002933063696483443,0.0001560464953027313,0.003193709371509001,-0.003428353652517979,0.002933088255337282,0.00015650993642917708,0.0031998886840144316,-0.003436455268800056,-0.14707126967953274,0.4955689110603623,0.29989224457978336,1.0,4.186668948506943e-12,1.9279290160450396e-11,-1.537913594157314e-11],"qvel":[0.021302264623044218,0.0380025306738733,-0.24971697903447304,0.20808268235905997,9.541519754105205e-05,0.021399204530574173,-0.0001093851536407156,-3.981927418917177e-05,1.0781311218289865e-05,0.00022963183805350506,-0.00010148486827200916,8.97952905610867e-06,0.00020068586119333307,0.00028068964985382346,-2.463943531500053e-11,5.350670561882636e-12,1.1706768929122032e-14,-1.0324772686112826e-10,-4.754457164871725e-10,-4.325820722065605e-10],"joint_position_rad":[-1.5564456670287172,-1.553980714657928,1.4203720123274226,-1.4372921423653775,-1.570763536016957,0.014331906028857807],"joint_velocity_rad_s":[0.021302264623044218,0.0380025306738733,-0.24971697903447304,0.20808268235905997,9.541519754105205e-05,0.021399204530574173],"linkage_position_rad":[0.002933063696483443,0.0001560464953027313,0.003193709371509001,-0.003428353652517979,0.002933088255337282,0.00015650993642917708,0.0031998886840144316,-0.003436455268800056],"tcp_position_m":[-0.141107671209758,0.4937053010284633,0.3843692918685925],"tcp_quaternion_wxyz":[-4.890463015648977e-05,0.707100149041604,0.707113411148123,2.466057240660899e-05],"object_position_m":[-0.14707126967953274,0.4955689110603623,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.186668948506943e-12,1.9279290160450396e-11,-1.537913594157314e-11],"object_linear_velocity_m_s":[-2.463943531500053e-11,5.350670561882636e-12,1.1706768929122032e-14],"object_angular_velocity_rad_s":[-1.032477268924319e-10,-4.754457164803746e-10,-4.325820722065605e-10],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486494260274,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.552212134738668,-1.556983114461852,1.360700654511539,-1.4007349270731324,-1.5707596729423257,0.018568706549203513,0.0],"actuator_force":[-0.05384126911894782,-21.205811877397082,-19.455924017978305,-2.529660589783475,-0.007609982438339102,-0.021520192884564082,-0.29225324748147263],"issued_joint_targets_rad":[-1.5517730945500996,-1.5452139848828146,1.3656867657223168,-1.3915298211247475,-1.5707611575252425,0.019012455067146838],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6400000000000005,"joint_targets_rad":[-1.5517730945500996,-1.5452139848828146,1.3656867657223168,-1.3915298211247475,-1.5707611575252425,0.019012455067146838],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6600000000000005,"qpos":[-1.5559988663727466,-1.5531479427829142,1.415187748474233,-1.4329453945986999,-1.570763219365843,0.01477848316429486,0.002933058505401488,0.0001560456835729815,0.003193713889462013,-0.00342834706872876,0.0029330831821804495,0.0001565118794506617,0.0031999028539974987,-0.003436446036303352,-0.14707126968013878,0.4955689110604939,0.29989224457978336,1.0,4.317547761455275e-12,1.988198350860782e-11,-3.714041014008819e-11],"qvel":[0.0212835391098129,0.03891496839905443,-0.2507898279700308,0.20827523289749045,9.466564274031955e-05,0.02138490487401864,-0.00010933608690544859,-3.99034386788236e-05,1.2109950676188663e-05,0.00022989548860570297,-0.00010138423167862053,9.232485264510475e-06,0.00020316776050439316,0.0002810871524028155,-2.7508414027297577e-11,5.973697850305201e-12,1.1708156707902814e-14,-4.570056507557596e-11,-2.1044850799108447e-10,-1.7388479653729859e-09],"joint_position_rad":[-1.5559988663727466,-1.5531479427829142,1.415187748474233,-1.4329453945986999,-1.570763219365843,0.01477848316429486],"joint_velocity_rad_s":[0.0212835391098129,0.03891496839905443,-0.2507898279700308,0.20827523289749045,9.466564274031955e-05,0.02138490487401864],"linkage_position_rad":[0.002933058505401488,0.0001560456835729815,0.003193713889462013,-0.00342834706872876,0.0029330831821804495,0.0001565118794506617,0.0031999028539974987,-0.003436446036303352],"tcp_position_m":[-0.1413301634602013,0.4937663711792955,0.38605375037193623],"tcp_quaternion_wxyz":[-5.072787830818401e-05,0.7071000698893104,0.7071134901159459,2.6177473684137996e-05],"object_position_m":[-0.14707126968013878,0.4955689110604939,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.317547761455275e-12,1.988198350860782e-11,-3.714041014008819e-11],"object_linear_velocity_m_s":[-2.7508414027297577e-11,5.973697850305201e-12,1.1708156707902814e-14],"object_angular_velocity_rad_s":[-4.570056516035174e-11,-2.1044850797267468e-10,-1.7388479653729859e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486290544769,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5517683887061497,-1.5559834255228375,1.355308107292484,-1.3963499154325238,-1.570759509258846,0.01901245255031235,0.0],"actuator_force":[-0.052460310731476056,-21.23695283946836,-19.443351175485986,-2.529783706661078,-0.007611510775518582,-0.021505794393119615,-0.2922534827861765],"issued_joint_targets_rad":[-1.5513297703630742,-1.5441829421561026,1.360264938129263,-1.387140298166348,-1.570760990147352,0.019455786758529988],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6600000000000005,"joint_targets_rad":[-1.5513297703630742,-1.5441829421561026,1.360264938129263,-1.387140298166348,-1.570760990147352,0.019455786758529988],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6800000000000005,"qpos":[-1.5555523963339153,-1.552296250107795,1.409981155432493,-1.428594603746254,-1.5707629165123838,0.015224751140290083,0.002933054158411616,0.00015604487021495723,0.0031937193312087213,-0.0034283412661700974,0.002933078952797154,0.00015651382800687888,0.003199917979429005,-0.003436437571507032,-0.14707126968072556,0.49556891106062134,0.29989224457978336,1.0,4.2973771065589295e-12,1.978899588772057e-11,-8.519634612949764e-11],"qvel":[0.021264387508144234,0.03982895661644083,-0.25187000664495124,0.20847036249912418,9.401050135943292e-05,0.021370074138720375,-0.00010929620742412192,-3.998837889662497e-05,1.3446194885325334e-05,0.00023017257851874203,-0.00010129212090586966,9.488117320222955e-06,0.00020566944749159167,0.0002814988356407861,-3.1718958794101014e-11,6.888102872555568e-12,1.1708156707902814e-14,4.497932528104872e-11,2.0711101607770505e-10,-6.98962118876343e-09],"joint_position_rad":[-1.5555523963339153,-1.552296250107795,1.409981155432493,-1.428594603746254,-1.5707629165123838,0.015224751140290083],"joint_velocity_rad_s":[0.021264387508144234,0.03982895661644083,-0.25187000664495124,0.20847036249912418,9.401050135943292e-05,0.021370074138720375],"linkage_position_rad":[0.002933054158411616,0.00015604487021495723,0.0031937193312087213,-0.0034283412661700974,0.002933078952797154,0.00015651382800687888,0.003199917979429005,-0.003436437571507032],"tcp_position_m":[-0.14155257669683002,0.49382771859995817,0.3877380038061652],"tcp_quaternion_wxyz":[-5.231988704019925e-05,0.7070999983358589,0.7071135615027363,2.7476764585314436e-05],"object_position_m":[-0.14707126968072556,0.49556891106062134,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.2973771065589295e-12,1.978899588772057e-11,-8.519634612949764e-11],"object_linear_velocity_m_s":[-3.1718958794101014e-11,6.888102872555568e-12,1.1708156707902814e-14],"object_angular_velocity_rad_s":[4.497932503970376e-11,2.0711101613011498e-10,-6.98962118876343e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486077377493,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5513250570428956,-1.554964731821623,1.3498919441878396,-1.3919603460952548,-1.570759340588726,0.019455784245046213,0.0],"actuator_force":[-0.051076421218112955,-21.26854607423229,-19.430419831326162,-2.5299074244128406,-0.0076130883070391064,-0.02149086149397128,-0.2922537139187885],"issued_joint_targets_rad":[-1.550886874470248,-1.5431325591271694,1.3548190423087005,-1.3827460631982278,-1.5707608179545738,0.019898690437374245],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6800000000000005,"joint_targets_rad":[-1.550886874470248,-1.5431325591271694,1.3548190423087005,-1.3827460631982278,-1.5707608179545738,0.019898690437374245],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7000000000000005,"qpos":[-1.5551062657843238,-1.5514255978461218,1.4047520712793828,-1.4242397076888984,-1.5707626256473555,0.015670698628033043,0.0029330505002304326,0.0001560440547536324,0.003193725544455058,-0.003428336097223712,0.002933075412037661,0.0001565157831504894,0.0031999339137917895,-0.0034364297252516027,-0.14707126968128514,0.4955689110607429,0.29989224457978336,1.0,4.060167881787605e-12,1.8696569511586895e-11,-1.7680180951893572e-10],"qvel":[0.021244783480087796,0.040744882771909866,-0.2529580731097896,0.20866855089417366,9.343947775251391e-05,0.02135470031227728,-0.0001092639899007359,-4.007413376262097e-05,1.4791990779893304e-05,0.0002304618240972159,-0.00010120698298981252,9.746507587912141e-06,0.0002081932695043755,0.00028192337745491065,-3.8494059825950374e-11,8.359440849485244e-12,1.1709544486683594e-14,1.8113479317996647e-10,8.340857264087922e-10,-2.8096085021726378e-08],"joint_position_rad":[-1.5551062657843238,-1.5514255978461218,1.4047520712793828,-1.4242397076888984,-1.5707626256473555,0.015670698628033043],"joint_velocity_rad_s":[0.021244783480087796,0.040744882771909866,-0.2529580731097896,0.20866855089417366,9.343947775251391e-05,0.02135470031227728],"linkage_position_rad":[0.0029330505002304326,0.0001560440547536324,0.003193725544455058,-0.003428336097223712,0.002933075412037661,0.0001565157831504894,0.0031999339137917895,-0.0034364297252516027],"tcp_position_m":[-0.14177490752021504,0.4938893563351688,0.3894220506700265],"tcp_quaternion_wxyz":[-5.370290255136672e-05,0.7070999335125105,0.7071136261774496,2.857934013068809e-05],"object_position_m":[-0.14707126968128514,0.4955689110607429,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.060167881787605e-12,1.8696569511586895e-11,-1.7680180951893572e-10],"object_linear_velocity_m_s":[-3.8494059825950374e-11,8.359440849485244e-12,1.1709544486683594e-14],"object_angular_velocity_rad_s":[1.811347924243014e-10,8.340857265728919e-10,-2.8096085021726378e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313485856083918,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5508821534477149,-1.5539269190631197,1.3444518928412166,-1.3875660620091108,-1.570759167141725,0.019898687926279576,0.0],"actuator_force":[-0.049688718817378685,-21.30059554276022,-19.41712763241685,-2.5300322495236287,-0.007614694960011548,-0.021475382104462426,-0.29225394074895195],"issued_joint_targets_rad":[-1.5504444220181286,-1.5420627137640313,1.3493487954479222,-1.378346956324714,-1.5707606411352282,0.020341150965661765],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7000000000000005,"joint_targets_rad":[-1.5504444220181286,-1.5420627137640313,1.3493487954479222,-1.378346956324714,-1.5707606411352282,0.020341150965661765],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7200000000000005,"qpos":[-1.5546604841854894,-1.550535939268846,1.3995003226875231,-1.419880634964736,-1.5707623451500228,0.01611631394023698,0.0029330474035564515,0.00015604323673021884,0.003193732404588976,-0.003428331440899667,0.002933072432714915,0.00015651774585180808,0.003199950537944049,-0.0034364223749605515,-0.1470712696818045,0.49556891106085577,0.29989224457978336,1.0,3.5098796566625054e-12,1.6162499634914002e-11,-2.833336399598829e-10],"qvel":[0.021224696443481576,0.041663131312280555,-0.2540545784404259,0.20887024405312368,9.294336409691526e-05,0.021338765966089874,-0.0001092381934810004,-4.016074589747672e-05,1.6149041348211622e-05,0.00023076223041925152,-0.00010112754693931106,1.0007745239523823e-05,0.00021074136184336917,0.0002823597362945908,-1.977764328422416e-11,4.294947632138992e-12,1.1708156707902812e-14,-1.5025640548576726e-10,-6.919115826636539e-10,-3.040486147193705e-09],"joint_position_rad":[-1.5546604841854894,-1.550535939268846,1.3995003226875231,-1.419880634964736,-1.5707623451500228,0.01611631394023698],"joint_velocity_rad_s":[0.021224696443481576,0.041663131312280555,-0.2540545784404259,0.20887024405312368,9.294336409691526e-05,0.021338765966089874],"linkage_position_rad":[0.0029330474035564515,0.00015604323673021884,0.003193732404588976,-0.003428331440899667,0.002933072432714915,0.00015651774585180808,0.003199950537944049,-0.0034364223749605515],"tcp_position_m":[-0.14199715222467157,0.4939512984562403,0.391105889376211],"tcp_quaternion_wxyz":[-5.489703038139291e-05,0.7070998746319754,0.7071136849271615,2.950407736717477e-05],"object_position_m":[-0.1470712696818045,0.49556891106085577,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.5098796566625054e-12,1.6162499634914002e-11,-2.833336399598829e-10],"object_linear_velocity_m_s":[-1.977764328422416e-11,4.294947632138992e-12,1.1708156707902812e-14],"object_angular_velocity_rad_s":[-1.5025640597613464e-10,-6.91911582557165e-10,-3.040486147193705e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348562774008,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5504396930531426,-1.5528698657187028,1.3389876709014759,-1.3831669034346934,-1.5707589890997793,0.020341148456072534,0.0],"actuator_force":[-0.048296312698767,-21.333105424625955,-19.40347219592377,-2.53015864029112,-0.007616311287847566,-0.02145933869120853,-0.29225416311146674],"issued_joint_targets_rad":[-1.5500024297972261,-1.5409732758982708,1.3438539038314015,-1.373942814873116,-1.5707604598515923,0.02078315156431925],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7200000000000005,"joint_targets_rad":[-1.5500024297972261,-1.5409732758982708,1.3438539038314015,-1.373942814873116,-1.5707604598515923,0.02078315156431925],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7400000000000005,"qpos":[-1.5542150616831236,-1.5496272197011296,1.3942257249859362,-1.4155173053980783,-1.570762073567051,0.01656158490917508,0.0029330447640060473,0.00015604241570038084,0.0031937398096316886,-0.0034283271980250496,0.002933069910540148,0.0001565197170056769,0.003199967755104877,-0.003436415419822409,-0.14707126968230355,0.4955689110609641,0.29989224457978336,1.0,3.2631109085760554e-12,1.5026194467334356e-11,-5.79034247394017e-10],"qvel":[0.0212040909672265,0.04258408756946879,-0.25516007148910885,0.20907585790579247,9.251392069111104e-05,0.021322247809446387,-0.00010921781199631209,-4.024826247521667e-05,1.7518861207257066e-05,0.0002310730473610386,-0.00010105277351598288,1.0271927340117497e-05,0.00021331570871919027,0.00028280710645547106,-1.9212913549031004e-11,4.172303811250771e-12,1.1708156707902814e-14,-1.0902141209061353e-10,-5.020277180496085e-10,-1.2221800162174014e-08],"joint_position_rad":[-1.5542150616831236,-1.5496272197011296,1.3942257249859362,-1.4155173053980783,-1.570762073567051,0.01656158490917508],"joint_velocity_rad_s":[0.0212040909672265,0.04258408756946879,-0.25516007148910885,0.20907585790579247,9.251392069111104e-05,0.021322247809446387],"linkage_position_rad":[0.0029330447640060473,0.00015604241570038084,0.0031937398096316886,-0.0034283271980250496,0.002933069910540148,0.0001565197170056769,0.003199967755104877,-0.003436415419822409],"tcp_position_m":[-0.14221930676063382,0.4940135601938564,0.392789518251113],"tcp_quaternion_wxyz":[-5.592044121201373e-05,0.7070998209788625,0.7071137384667409,3.026802901811186e-05],"object_position_m":[-0.14707126968230355,0.4955689110609641,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.2631109085760554e-12,1.5026194467334356e-11,-5.79034247394017e-10],"object_linear_velocity_m_s":[-1.9212913549031004e-11,4.172303811250771e-12,1.1708156707902814e-14],"object_angular_velocity_rad_s":[-1.090214130392903e-10,-5.020277178435921e-10,-1.2221800162174014e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313485393218561,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5499976926358183,-1.5517934422610362,1.3334989851417742,-1.3787627078371103,-1.5707588066193086,0.020783149055421862,0.0],"actuator_force":[-0.04689829227982045,-21.36608014760077,-19.3894510926807,-2.5302870100952077,-0.007617918197865947,-0.021442707821247353,-0.2922543807997483],"issued_joint_targets_rad":[-1.5495609164974289,-1.5398641063092342,1.3383340617993167,-1.3695334732743905,-1.5707602742420417,0.02122467355815946],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7400000000000005,"joint_targets_rad":[-1.5495609164974289,-1.5398641063092342,1.3383340617993167,-1.3695334732743905,-1.5707602742420417,0.02122467355815946],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7600000000000006,"qpos":[-1.5537700092164128,-1.5486993764337764,1.3889280821178704,-1.4111496306565006,-1.5707618095935327,0.01700649875216712,0.002933042495961249,0.00015604159123245307,0.0031937476760891203,-0.0034283232873195944,0.002933067759969709,0.00015652169743573055,0.003199985486741228,-0.0034364087768223605,-0.147071269682669,0.49556891106104345,0.29989224457978336,1.0,2.5243223139336716e-12,1.162415602588707e-11,-9.168039675501664e-10],"qvel":[0.02118292601165888,0.04350814197598734,-0.25627510392432057,0.2092857817413884,9.214376799464759e-05,0.021305116080671545,-0.00010920203341772622,-4.033673597594084e-05,1.8902825006365032e-05,0.00023139373597098417,-0.00010098181413639445,1.0539160134606352e-05,0.00021591819777502826,0.000283264880774911,-1.7692854653601703e-11,3.842211762250525e-12,1.1712320044245159e-14,-3.888117138095047e-11,-1.79045466914382e-10,-4.912780149170153e-08],"joint_position_rad":[-1.5537700092164128,-1.5486993764337764,1.3889280821178704,-1.4111496306565006,-1.5707618095935327,0.01700649875216712],"joint_velocity_rad_s":[0.02118292601165888,0.04350814197598734,-0.25627510392432057,0.2092857817413884,9.214376799464759e-05,0.021305116080671545],"linkage_position_rad":[0.002933042495961249,0.00015604159123245307,0.0031937476760891203,-0.0034283232873195944,0.002933067759969709,0.00015652169743573055,0.003199985486741228,-0.0034364087768223605],"tcp_position_m":[-0.14244136668996657,0.49407615809486727,0.39447293553396273],"tcp_quaternion_wxyz":[-5.6789556981286594e-05,0.7070997719008049,0.7071137874478147,3.08865985131195e-05],"object_position_m":[-0.147071269682669,0.49556891106104345,0.29989224457978336],"object_quaternion_wxyz":[1.0,2.5243223139336716e-12,1.162415602588707e-11,-9.168039675501664e-10],"object_linear_velocity_m_s":[-1.7692854653601703e-11,3.842211762250525e-12,1.1712320044245159e-14],"object_angular_velocity_rad_s":[-3.888117285138812e-11,-1.7904546659506034e-10,-4.912780149170153e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313485153226231,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5495561708717587,-1.5506975102496876,1.3279855304184365,-1.3743533097682112,-1.5707586198332788,0.02122467104920327,0.0],"actuator_force":[-0.045493715355405584,-21.399524422217382,-19.375061829139668,-2.530417729994042,-0.0076194966725324775,-0.021425459549078596,-0.29225459355877725],"issued_joint_targets_rad":[-1.5491199030205052,-1.5387350556177226,1.3327889505041672,-1.3651187629326522,-1.5707600844229528,0.021665696063794482],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7600000000000006,"joint_targets_rad":[-1.5491199030205052,-1.5387350556177226,1.3327889505041672,-1.3651187629326522,-1.5707600844229528,0.021665696063794482],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7800000000000006,"qpos":[-1.553325338645584,-1.5477523385399392,1.38360718648663,-1.4067775147417168,-1.570761552055849,0.01745104192030981,0.00293304052916473,0.00015604076290549461,0.003193755935535671,-0.0034283196421760953,0.002933065910798394,0.00015652368789764016,0.0032000036691843745,-0.0034364023774965183,-0.14707126968292875,0.4955689110610998,0.29989224457978336,1.0,1.6937784284679975e-12,7.799610010435048e-12,-1.1030816859561234e-09],"qvel":[0.02116115397064711,0.04443569476525453,-0.2574002357251981,0.20950038132726323,9.182628888163272e-05,0.021287333734867245,-0.00010919020722570673,-4.042622541211491e-05,2.030220945026604e-05,0.0002317239428015482,-0.00010091397752346904,1.0809560690888322e-05,0.00021855067048548216,0.00028373262336393005,-9.99767393724295e-12,2.171113580841964e-12,1.171370782302594e-14,-9.214401794422229e-11,-4.2431078833336663e-10,-5.316484470939275e-09],"joint_position_rad":[-1.553325338645584,-1.5477523385399392,1.38360718648663,-1.4067775147417168,-1.570761552055849,0.01745104192030981],"joint_velocity_rad_s":[0.02116115397064711,0.04443569476525453,-0.2574002357251981,0.20950038132726323,9.182628888163272e-05,0.021287333734867245],"linkage_position_rad":[0.00293304052916473,0.00015604076290549461,0.003193755935535671,-0.0034283196421760953,0.002933065910798394,0.00015652368789764016,0.0032000036691843745,-0.0034364023774965183],"tcp_position_m":[-0.1426633271325629,0.494139110208789,0.39615613937530014],"tcp_quaternion_wxyz":[-5.7519219237847585e-05,0.7070997268001145,0.7071138324671871,3.1373698183004926e-05],"object_position_m":[-0.14707126968292875,0.4955689110610998,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.6937784284679975e-12,7.799610010435048e-12,-1.1030816859561234e-09],"object_linear_velocity_m_s":[-9.99767393724295e-12,2.171113580841964e-12,1.171370782302594e-14],"object_angular_velocity_rad_s":[-9.214401896325422e-11,-4.24310788112072e-10,-5.316484470939275e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348490833539,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5491151486487476,-1.5495819212281199,1.3224469884280141,-1.3699385407374876,-1.5707584288530272,0.021665693554085354,0.0],"actuator_force":[-0.0440815945862596,-21.43344328246303,-19.360301827152398,-2.530551130611798,-0.00762102747728477,-0.021407556598953548,-0.2922548010744104],"issued_joint_targets_rad":[-1.5486794128651766,-1.5375859629358335,1.327218236409661,-1.3606985120812596,-1.5707598904903852,0.022106195605107112],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7800000000000006,"joint_targets_rad":[-1.5486794128651766,-1.5375859629358335,1.327218236409661,-1.3606985120812596,-1.5707598904903852,0.022106195605107112],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8000000000000006,"qpos":[-1.552881062902539,-1.5467860265837752,1.3782628186762664,-1.4024008544192395,-1.5707612998961509,0.017895199925184648,0.0029330388059256303,0.00015603993030681538,0.0031937645317983805,-0.0034283162080285994,0.002933064305362593,0.000156525689078823,0.0032000222508376456,-0.003436396165252027,-0.14707126968312262,0.495568911061142,0.29989224457978336,1.0,1.1942014874288352e-12,5.499115536714015e-12,-1.5585450346227555e-09],"qvel":[0.02113871946077063,0.04536716135947484,-0.2585360413461487,0.20972000178175285,9.155553987150355e-05,0.02126885537699131,-0.00010918181818756273,-4.0516797731995393e-05,2.171823263848021e-05,0.00023206348163555207,-0.00010084870257976414,1.1083259035358378e-05,0.00022121497170367836,0.00028421004679651444,-7.40369980484951e-12,1.6078041029081195e-12,1.1709544486683597e-14,-5.522019716848726e-11,-2.5428214908087965e-10,-2.1370599333383805e-08],"joint_position_rad":[-1.552881062902539,-1.5467860265837752,1.3782628186762664,-1.4024008544192395,-1.5707612998961509,0.017895199925184648],"joint_velocity_rad_s":[0.02113871946077063,0.04536716135947484,-0.2585360413461487,0.20972000178175285,9.155553987150355e-05,0.02126885537699131],"linkage_position_rad":[0.0029330388059256303,0.00015603993030681538,0.0031937645317983805,-0.0034283162080285994,0.002933064305362593,0.000156525689078823,0.0032000222508376456,-0.003436396165252027],"tcp_position_m":[-0.14288518270211514,0.49420243631139504,0.39783912783472786],"tcp_quaternion_wxyz":[-5.8122841474568455e-05,0.7070996851258009,0.7071138740748766,3.174189225827423e-05],"object_position_m":[-0.14707126968312262,0.495568911061142,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.1942014874288352e-12,5.499115536714015e-12,-1.5585450346227555e-09],"object_linear_velocity_m_s":[-7.40369980484951e-12,1.6078041029081195e-12,1.1709544486683597e-14],"object_angular_velocity_rad_s":[-5.522019819614641e-11,-2.5428214885771174e-10,-2.1370599333383805e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313484659009605,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5486746494512886,-1.5484465153789784,1.3168830262067264,-1.3655182290693724,-1.5707582337698682,0.022106193094001574,0.0],"actuator_force":[-0.04266088180793304,-21.467842134196417,-19.345168400620878,-2.5306875032417793,-0.007622490845847096,-0.021388953290669477,-0.2922550029605745],"issued_joint_targets_rad":[-1.5482394726072641,-1.5364166542016742,1.3216215694570952,-1.3562725456222335,-1.5707596925215512,0.022546145633809418],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8000000000000006,"joint_targets_rad":[-1.5482394726072641,-1.5364166542016742,1.3216215694570952,-1.3562725456222335,-1.5707596925215512,0.022546145633809418],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8200000000000006,"qpos":[-1.5524371961709167,-1.5458003522024861,1.372894747028361,-1.3980195395909443,-1.5707610521581918,0.01833895713666076,0.002933037278825994,0.00015603909303008493,0.003193773418618663,-0.003428312940205045,0.002933062896242787,0.00015652770159630945,0.003200041189864218,-0.003436390093162694,-0.14707126968323875,0.4955689110611673,0.29989224457978336,1.0,7.178710101218583e-13,3.3057077892498994e-12,-1.7802844455871752e-09],"qvel":[0.021115557774960714,0.046302978712148044,-0.25968311683481604,0.20994497023672726,9.132616985586463e-05,0.021249625861539462,-0.00010917646571061849,-4.0608529748574246e-05,2.315209052185379e-05,0.00023241232361624254,-0.00010078553656471369,1.1360400926098566e-05,0.00022391299987955797,0.00028469699811015954,-5.520732436119044e-12,1.1988534258868257e-12,1.1698442256437346e-14,-2.2173322492846795e-11,-1.020886944370132e-10,-8.590310352461456e-08],"joint_position_rad":[-1.5524371961709167,-1.5458003522024861,1.372894747028361,-1.3980195395909443,-1.5707610521581918,0.01833895713666076],"joint_velocity_rad_s":[0.021115557774960714,0.046302978712148044,-0.25968311683481604,0.20994497023672726,9.132616985586463e-05,0.021249625861539462],"linkage_position_rad":[0.002933037278825994,0.00015603909303008493,0.003193773418618663,-0.003428312940205045,0.002933062896242787,0.00015652770159630945,0.003200041189864218,-0.003436390093162694],"tcp_position_m":[-0.14310692742823256,0.4942661581750964,0.3995218988778724],"tcp_quaternion_wxyz":[-5.8612547049658875e-05,0.7070996463657634,0.7071139127819642,3.200252612723417e-05],"object_position_m":[-0.14707126968323875,0.4955689110611673,0.29989224457978336],"object_quaternion_wxyz":[1.0,7.178710101218583e-13,3.3057077892498994e-12,-1.7802844455871752e-09],"object_linear_velocity_m_s":[-5.520732436119044e-12,1.1988534258868257e-12,1.1698442256437346e-14],"object_angular_velocity_rad_s":[-2.217332342428174e-11,-1.0208869423472885e-10,-8.590310352461456e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313484405625208,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5482346998406158,-1.5472911198667696,1.3112932942975175,-1.3610921997437084,-1.5707580346564889,0.02254614312070937,0.0],"actuator_force":[-0.041230449382510415,-21.502726813425852,-19.32965872776049,-2.5308271000548075,-0.007623866134053969,-0.021369594129641456,-0.2922551987420624],"issued_joint_targets_rad":[-1.547800112504399,-1.5352269401002916,1.315998580796196,-1.3518406849449636,-1.5707594905760887,0.022985515925664706],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8200000000000006,"joint_targets_rad":[-1.547800112504399,-1.5352269401002916,1.315998580796196,-1.3518406849449636,-1.5707594905760887,0.022985515925664706],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8400000000000006,"qpos":[-1.5519937541039301,-1.5447952175360213,1.3675027270484565,-1.393633453613823,-1.5707608079743005,0.018782296542781803,0.0029330359088351322,0.00015603825067251185,0.003193782557700436,-0.0034283098021699525,0.0029330616443722277,0.00015652972599020277,0.003200060452250961,-0.00343638412214559,-0.14707126968331533,0.49556891106118395,0.29989224457978336,1.0,4.4505696765441224e-13,2.0494867287720128e-12,-2.1060029520789564e-09],"qvel":[0.02109159289243673,0.04724361297421068,-0.2608420882906934,0.21017559832469074,9.113334510337171e-05,0.021229578455727705,-0.00010917384801284073,-4.070151054423875e-05,2.4604994538593197e-05,0.00023277059332779083,-0.00010072411773064796,1.1641151386099873e-05,0.00022664676202109593,0.0002851934482015361,-2.7821628674458776e-12,6.041650585500526e-13,1.17095444866836e-14,-2.616022540502764e-11,-1.2046468416962438e-10,-9.29621318660158e-09],"joint_position_rad":[-1.5519937541039301,-1.5447952175360213,1.3675027270484565,-1.393633453613823,-1.5707608079743005,0.018782296542781803],"joint_velocity_rad_s":[0.02109159289243673,0.04724361297421068,-0.2608420882906934,0.21017559832469074,9.113334510337171e-05,0.021229578455727705],"linkage_position_rad":[0.0029330359088351322,0.00015603825067251185,0.003193782557700436,-0.0034283098021699525,0.0029330616443722277,0.00015652972599020277,0.003200060452250961,-0.00343638412214559],"tcp_position_m":[-0.1433285546611702,0.4943302998990264,0.40120445037246055],"tcp_quaternion_wxyz":[-5.8999294160832705e-05,0.7070996100389332,0.7071139490684865,3.216584321276051e-05],"object_position_m":[-0.14707126968331533,0.49556891106118395,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.4505696765441224e-13,2.0494867287720128e-12,-2.1060029520789564e-09],"object_linear_velocity_m_s":[-2.7821628674458776e-12,6.041650585500526e-13,1.17095444866836e-14],"object_angular_velocity_rad_s":[-2.6160225950530533e-11,-1.2046468405116265e-10,-9.29621318660158e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313484148489583,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5477953300592489,-1.5461155467697834,1.3056774244817249,-1.3566602742153375,-1.5707578315681416,0.022985513410012624,0.0],"actuator_force":[-0.03978906761221879,-21.538103657208467,-19.313769817186312,-2.5309701332262193,-0.007625131430927468,-0.021349411957361397,-0.29225538783165056],"issued_joint_targets_rad":[-1.5473613672669175,-1.5340166134334334,1.3103488799369685,-1.34740274771863,-1.5707592846971272,0.023424271810810183],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8400000000000006,"joint_targets_rad":[-1.5473613672669175,-1.5340166134334334,1.3103488799369685,-1.34740274771863,-1.5707592846971272,0.023424271810810183],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8600000000000007,"qpos":[-1.5515507540912148,-1.5437705144687126,1.3620865006050809,-1.3892424735672808,-1.570760566553224,0.019225199459662022,0.0029330346637574185,0.00015603740283303398,0.0031937919170558294,-0.003428306764113519,0.002933060517476484,0.00015653176271248365,0.00320008001016629,-0.0034363782194391356,-0.14707126968336118,0.49556891106119394,0.29989224457978336,1.0,2.6845475974905775e-13,1.2363273700536491e-12,-2.51188656678819e-09],"qvel":[0.02106673488965914,0.04818956899800501,-0.26201362220254215,0.21041218452732552,9.09726791138231e-05,0.021208632417235185,-0.0001091737505691763,-4.0795844737021555e-05,2.6078211774210937e-05,0.0002331385750022776,-0.00010066416171952046,1.1925699646939327e-05,0.00022941843743091357,0.0002856994903227547,-1.7944345050767827e-12,3.896391931142756e-13,1.1706768929122038e-14,-1.3478700737498837e-11,-6.206351655575619e-11,-3.736786000072589e-08],"joint_position_rad":[-1.5515507540912148,-1.5437705144687126,1.3620865006050809,-1.3892424735672808,-1.570760566553224,0.019225199459662022],"joint_velocity_rad_s":[0.02106673488965914,0.04818956899800501,-0.26201362220254215,0.21041218452732552,9.09726791138231e-05,0.021208632417235185],"linkage_position_rad":[0.0029330346637574185,0.00015603740283303398,0.0031937919170558294,-0.003428306764113519,0.002933060517476484,0.00015653176271248365,0.00320008001016629,-0.0034363782194391356],"tcp_position_m":[-0.14355005695412992,0.4943948883162793,0.4028867800833966],"tcp_quaternion_wxyz":[-5.929298926081504e-05,0.7070995756870594,0.7071139833916688,3.224109069071519e-05],"object_position_m":[-0.14707126968336118,0.49556891106119394,0.29989224457978336],"object_quaternion_wxyz":[1.0,2.6845475974905775e-13,1.2363273700536491e-12,-2.51188656678819e-09],"object_linear_velocity_m_s":[-1.7944345050767827e-12,3.896391931142756e-13,1.1706768929122038e-14],"object_angular_velocity_rad_s":[-1.347870114168968e-11,-6.206351646797909e-11,-3.736786000072589e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313483887856981,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5473565748017009,-1.5449195904645847,1.3000350269319416,-1.352222270207238,-1.5707576245436254,0.02342426929208477,0.0],"actuator_force":[-0.03833537683613031,-21.573979590945783,-19.29749846526147,-2.5311167727111297,-0.007626263112115339,-0.021328325512145696,-0.2922555695002516],"issued_joint_targets_rad":[-1.5469232770546992,-1.5327854457432695,1.304672051119277,-1.3429585476505674,-1.570759074912156,0.023862373178549078],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8600000000000007,"joint_targets_rad":[-1.5469232770546992,-1.5327854457432695,1.304672051119277,-1.3429585476505674,-1.570759074912156,0.023862373178549078],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8800000000000007,"qpos":[-1.5511082155901228,-1.5427261236329348,1.3566457948692345,-1.38484647047022,-1.570760327168566,0.01966764517484209,0.002933033516949948,0.00015603654910964918,0.003193801469574347,-0.003428303801800167,0.002933059488779351,0.000156533812108348,0.003200099840529709,-0.0034363723573350552,-0.14707126968338718,0.4955689110611996,0.29989224457978336,1.0,1.497587289081045e-13,6.89724658443565e-13,-2.6535741549056972e-09],"qvel":[0.02104087652592453,0.0491414024117071,-0.26319843842934515,0.2106550164265102,9.084016573513638e-05,0.021186689768906017,-0.00010917603882887584,-4.0891656935572976e-05,2.7573111089659673e-05,0.0002335167261420186,-0.00010060545151499801,1.2214265506618573e-05,0.00023223045550536982,0.000286215341638519,-9.55389493304456e-13,2.0744601094042495e-13,1.1710932265464383e-14,-9.736213539641119e-12,-4.483901207532015e-11,-4.04385381480691e-09],"joint_position_rad":[-1.5511082155901228,-1.5427261236329348,1.3566457948692345,-1.38484647047022,-1.570760327168566,0.01966764517484209],"joint_velocity_rad_s":[0.02104087652592453,0.0491414024117071,-0.26319843842934515,0.2106550164265102,9.084016573513638e-05,0.021186689768906017],"linkage_position_rad":[0.002933033516949948,0.00015603654910964918,0.003193801469574347,-0.003428303801800167,0.002933059488779351,0.000156533812108348,0.003200099840529709,-0.0034363723573350552],"tcp_position_m":[-0.14377142591618525,0.4944599535022503,0.40456888566668914],"tcp_quaternion_wxyz":[-5.950259021772328e-05,0.7070995428657569,0.7071140161948986,3.2236615186794336e-05],"object_position_m":[-0.14707126968338718,0.4955689110611996,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.497587289081045e-13,6.89724658443565e-13,-2.6535741549056972e-09],"object_linear_velocity_m_s":[-9.55389493304456e-13,2.0744601094042495e-13,1.1710932265464383e-14],"object_angular_velocity_rad_s":[-9.736213783186697e-12,-4.483901202243741e-11,-4.04385381480691e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313483623942667,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5469184742110882,-1.5437030242691931,1.2943656865828477,-1.3477780014694245,-1.5707574136060574,0.023862370656261324,0.0],"actuator_force":[-0.03686785230001988,-21.610362237199297,-19.280841201035855,-2.5312671422533413,-0.007627235319205283,-0.02130623618098504,-0.2922557428347456],"issued_joint_targets_rad":[-1.5464858887858617,-1.5315331829072312,1.2989676486055501,-1.3385078941997846,-1.5707588612336716,0.02429977317084188],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8800000000000007,"joint_targets_rad":[-1.5464858887858617,-1.5315331829072312,1.2989676486055501,-1.3385078941997846,-1.5707588612336716,0.02429977317084188],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9000000000000007,"qpos":[-1.5506661605429268,-1.5416619131042102,1.3511803209203102,-1.3804453094478095,-1.5707600891474782,0.02010961050104126,0.0029330324462587343,0.00015603568909791586,0.0031938111917375555,-0.00342830089567642,0.0029330585359219697,0.00015653587438747716,0.003200119923715286,-0.003436366512088097,-0.14707126968340317,0.4955689110612031,0.29989224457978336,1.0,8.860400970864421e-14,4.0814719843853906e-13,-3.0992110089114343e-09],"qvel":[0.021013888674718723,0.05009973533616373,-0.26439732694113605,0.210904372905008,9.073211380458217e-05,0.021163630953683777,-0.00010918065509418801,-4.09890978606275e-05,2.90912196160995e-05,0.00023390570511083703,-0.00010054783050032991,1.2507108420183866e-05,0.00023508559597032718,0.000286741356855707,-5.756114706123051e-13,1.2496462287728766e-13,1.1713707823025945e-14,-5.314661113744026e-12,-2.447576858478483e-11,-1.6255023435665702e-08],"joint_position_rad":[-1.5506661605429268,-1.5416619131042102,1.3511803209203102,-1.3804453094478095,-1.5707600891474782,0.02010961050104126],"joint_velocity_rad_s":[0.021013888674718723,0.05009973533616373,-0.26439732694113605,0.210904372905008,9.073211380458217e-05,0.021163630953683777],"linkage_position_rad":[0.0029330324462587343,0.00015603568909791586,0.0031938111917375555,-0.00342830089567642,0.0029330585359219697,0.00015653587438747716,0.003200119923715286,-0.003436366512088097],"tcp_position_m":[-0.14399265202615805,0.4945255294175331,0.40625076466206134],"tcp_quaternion_wxyz":[-5.963620052008474e-05,0.7070995111342411,0.7071140479179987,3.215994952488943e-05],"object_position_m":[-0.14707126968340317,0.4955689110612031,0.29989224457978336],"object_quaternion_wxyz":[1.0,8.860400970864421e-14,4.0814719843853906e-13,-3.0992110089114343e-09],"object_linear_velocity_m_s":[-5.756114706123051e-13,1.2496462287728766e-13,1.1713707823025945e-14],"object_angular_velocity_rad_s":[-5.3146612787240526e-12,-2.4475768548961795e-11,-1.6255023435665702e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348335693644,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5464810751875366,-1.5424655960635016,1.2886689584254738,-1.3433272774928025,-1.5707571987634072,0.024299770644531475,0.0],"actuator_force":[-0.03538475910727357,-21.647260053048285,-19.26379421321826,-2.5314213129972813,-0.0076280193450202205,-0.021283023623270836,-0.2922559066810626],"issued_joint_targets_rad":[-1.5460492578854579,-1.5302595392850882,1.2932351904606625,-1.3340505922299772,-1.570758643659587,0.02473641643660455],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9000000000000007,"joint_targets_rad":[-1.5460492578854579,-1.5302595392850882,1.2932351904606625,-1.3340505922299772,-1.570758643659587,0.02473641643660455],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9200000000000007,"qpos":[-1.5502246139105247,-1.5405777366863647,1.3456897719117527,-1.3760388498460214,-1.5707598518591608,0.020551069207389767,0.002933031433128194,0.00015603482238972895,0.0031938210624024724,-0.0034282980301740405,0.00293305764004723,0.00015653794957871074,0.003200140242294501,-0.003436360662971502,-0.14707126968341194,0.4955689110612051,0.29989224457978336,1.0,4.9505357951349324e-14,2.281236309833611e-13,-3.417270394313608e-09],"qvel":[0.020985614103398078,0.05106527734628137,-0.2656111699866525,0.21116052635597687,9.064508096001641e-05,0.02113930889006386,-0.00010918762032013702,-4.108835295041246e-05,3.063429620651275e-05,0.00023430641531732883,-0.00010049119890375064,1.2804539958083599e-05,0.00023798712325619762,0.00028727804750208936,-3.551973368516161e-13,7.706733370326345e-14,1.1716483380587507e-14,-2.5157770021542315e-12,-1.1575705493994844e-11,-6.534009363543916e-08],"joint_position_rad":[-1.5502246139105247,-1.5405777366863647,1.3456897719117527,-1.3760388498460214,-1.5707598518591608,0.020551069207389767],"joint_velocity_rad_s":[0.020985614103398078,0.05106527734628137,-0.2656111699866525,0.21116052635597687,9.064508096001641e-05,0.02113930889006386],"linkage_position_rad":[0.002933031433128194,0.00015603482238972895,0.0031938210624024724,-0.0034282980301740405,0.00293305764004723,0.00015653794957871074,0.003200140242294501,-0.003436360662971502],"tcp_position_m":[-0.14421372439364413,0.4945916547330785,0.40793241448404943],"tcp_quaternion_wxyz":[-5.9701155863629705e-05,0.7070994800429328,0.7071140790096319,3.2017891564614354e-05],"object_position_m":[-0.14707126968341194,0.4955689110612051,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.9505357951349324e-14,2.281236309833611e-13,-3.417270394313608e-09],"object_linear_velocity_m_s":[-3.551973368516161e-13,7.706733370326345e-14,1.1716483380587507e-14],"object_angular_velocity_rad_s":[-2.5157771110801016e-12,-1.1575705470331294e-11,-6.534009363543916e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313483087016472,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5460444331365013,-1.5412070224700485,1.2829443612890683,-1.3388699031622742,-1.5707569800087653,0.024736413905836648,0.0],"actuator_force":[-0.03388409331228104,-21.68468250588012,-19.246353250707216,-2.5315792937241213,-0.007628582898291825,-0.021258539782945007,-0.2922560595626517],"issued_joint_targets_rad":[-1.5456134506690509,-1.5289641897814346,1.2874741501569302,-1.3295864415789793,-1.5707584221733468,0.025172236752312872],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9200000000000007,"joint_targets_rad":[-1.5456134506690509,-1.5289641897814346,1.2874741501569302,-1.3295864415789793,-1.5707584221733468,0.025172236752312872],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9400000000000007,"qpos":[-1.549783604367174,-1.5394734316381884,1.3401738206398033,-1.3716269452894616,-1.5707596147025538,0.020991991280045683,0.002933030461845824,0.00015603394857357402,0.0031938310615528967,-0.0034282951932362946,0.002933056785007046,0.00015654003746078717,0.0032001607797168237,-0.0034363547914085853,-0.14707126968341694,0.4955689110612062,0.29989224457978336,1.0,2.7498743684782313e-14,1.267701428908398e-13,-3.6650202059008293e-09],"qvel":[0.0209558588352373,0.05203885413886697,-0.26684097224737025,0.2114237449791079,9.057580366430819e-05,0.02111354068858466,-0.00010919704194895972,-4.118965474797424e-05,3.22044319021406e-05,0.00023472007253408586,-0.00010043551391371276,1.3106941909128589e-05,0.00024093897531357112,0.0002878261208118749,-1.7874075911389927e-13,3.8779113823878727e-14,1.1717871159368289e-14,-1.7964361771002837e-12,-8.278509175727792e-12,-7.07093708080677e-09],"joint_position_rad":[-1.549783604367174,-1.5394734316381884,1.3401738206398033,-1.3716269452894616,-1.5707596147025538,0.020991991280045683],"joint_velocity_rad_s":[0.0209558588352373,0.05203885413886697,-0.26684097224737025,0.2114237449791079,9.057580366430819e-05,0.02111354068858466],"linkage_position_rad":[0.002933030461845824,0.00015603394857357402,0.0031938310615528967,-0.0034282951932362946,0.002933056785007046,0.00015654003746078717,0.0032001607797168237,-0.0034363547914085853],"tcp_position_m":[-0.14443463044707663,0.4946583739071622,0.40961383241140437],"tcp_quaternion_wxyz":[-5.9704104631851777e-05,0.7070994491176775,0.7071141099430857,3.181657619512075e-05],"object_position_m":[-0.14707126968341694,0.4955689110612062,0.29989224457978336],"object_quaternion_wxyz":[1.0,2.7498743684782313e-14,1.267701428908398e-13,-3.6650202059008293e-09],"object_linear_velocity_m_s":[-1.7874075911389927e-13,3.8779113823878727e-14,1.1717871159368289e-14],"object_angular_velocity_rad_s":[-1.7964362395748578e-12,-8.27850916217096e-12,-7.07093708080677e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313482814364955,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5456086143518377,-1.5399269809612386,1.2771913694486698,-1.3344056783259806,-1.5707567573202768,0.02517223421667514,0.0],"actuator_force":[-0.03236350342285732,-21.72264030164706,-19.228513483319148,-2.5317410161701446,-0.007628889227930813,-0.02123260054373688,-0.29225619956333015],"issued_joint_targets_rad":[-1.5451785476666051,-1.5276467588274105,1.281683944969576,-1.3251152365095766,-1.5707581967436832,0.025607153704044587],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9400000000000007,"joint_targets_rad":[-1.5451785476666051,-1.5276467588274105,1.281683944969576,-1.3251152365095766,-1.5707581967436832,0.025607153704044587],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9600000000000007,"qpos":[-1.54934316522281,-1.5383488156187288,1.3346321162798753,-1.3672094436742275,-1.5707593770922903,0.021432341939999645,0.002933029518886733,0.00015603306723823609,0.0031938411688855967,-0.00342829237604851,0.002933055956649561,0.00015654213745270852,0.0032001815187536844,-0.003436348880146927,-0.14707126968341971,0.495568911061207,0.29989224457978336,1.0,1.5380803747274513e-14,7.096009419419128e-14,-4.073232715510596e-09],"qvel":[0.02092437987791253,0.05302144780233017,-0.26808790302690905,0.2116942952728985,9.05211190226809e-05,0.021086095854151613,-0.00010920913018829598,-4.129330133907496e-05,3.3804192775473614e-05,0.0002351483114355616,-0.00010038079456275761,1.341479290351234e-05,0.0002439460366185788,0.0002883865374974653,-1.0371779817479804e-13,2.248619817655518e-14,1.1717871159368289e-14,-9.222981139036493e-13,-4.249274647982933e-12,-2.842294831366883e-08],"joint_position_rad":[-1.54934316522281,-1.5383488156187288,1.3346321162798753,-1.3672094436742275,-1.5707593770922903,0.021432341939999645],"joint_velocity_rad_s":[0.02092437987791253,0.05302144780233017,-0.26808790302690905,0.2116942952728985,9.05211190226809e-05,0.021086095854151613],"linkage_position_rad":[0.002933029518886733,0.00015603306723823609,0.0031938411688855967,-0.00342829237604851,0.002933055956649561,0.00015654213745270852,0.0032001815187536844,-0.003436348880146927],"tcp_position_m":[-0.14465535551876985,0.4947257386181935,0.4112950155746533],"tcp_quaternion_wxyz":[-5.965108411311015e-05,0.7070994178385703,0.7071141412374464,3.1561541659048924e-05],"object_position_m":[-0.14707126968341971,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.5380803747274513e-14,7.096009419419128e-14,-4.073232715510596e-09],"object_linear_velocity_m_s":[-1.0371779817479804e-13,2.248619817655518e-14,1.1717871159368289e-14],"object_angular_velocity_rad_s":[-9.222981525540084e-13,-4.249274639595128e-12,-2.842294831366883e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313482539187745,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5451736993389933,-1.5386250989011907,1.2714094010240145,-1.3299343972454938,-1.5707565306606528,0.025607151163144555,0.0],"actuator_force":[-0.03082018353188687,-21.76114568585581,-19.210269300958316,-2.531906312922956,-0.007628896083474501,-0.02120497384270692,-0.29225632415305947],"issued_joint_targets_rad":[-1.5447446483816323,-1.526306804671288,1.2758639194918053,-1.3206367649867903,-1.5707579673238714,0.026041067937028026],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9600000000000007,"joint_targets_rad":[-1.5447446483816323,-1.526306804671288,1.2758639194918053,-1.3206367649867903,-1.5707579673238714,0.026041067937028026],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9800000000000008,"qpos":[-1.5489033356753634,-1.5372036825072843,1.329064279926625,-1.3627861870814928,-1.5707591384414437,0.021872080306322896,0.002933028592323002,0.0001560321779818,0.0031938513620208405,-0.003428289573044881,0.00293305514213845,0.00015654424843730705,0.0032002024394568594,-0.0034363429123791546,-0.14707126968342116,0.495568911061207,0.29989224457978336,1.0,8.168328800428611e-15,3.769051196491889e-14,-4.236591649843429e-09],"qvel":[0.020890867322497744,0.05401425506124181,-0.2693533570998302,0.21197244488493297,9.047787202927298e-05,0.02105667904379692,-0.00010922422686370067,-4.1399684336456786e-05,3.543683391782969e-05,0.00023559334949965736,-0.00010032713324846664,1.3728708773433551e-05,0.0002470145487698394,0.00028896060417600106,-6.365081168219825e-14,1.3862427394698276e-14,1.1710932265464382e-14,-4.0157108824938403e-13,-1.8775019681418944e-12,-1.142513335362689e-07],"joint_position_rad":[-1.5489033356753634,-1.5372036825072843,1.329064279926625,-1.3627861870814928,-1.5707591384414437,0.021872080306322896],"joint_velocity_rad_s":[0.020890867322497744,0.05401425506124181,-0.2693533570998302,0.21197244488493297,9.047787202927298e-05,0.02105667904379692],"linkage_position_rad":[0.002933028592323002,0.0001560321779818,0.0031938513620208405,-0.003428289573044881,0.00293305514213845,0.00015654424843730705,0.0032002024394568594,-0.0034363429123791546],"tcp_position_m":[-0.14487588228067,0.4947938097136635,0.4129759609418981],"tcp_quaternion_wxyz":[-5.9547595013478895e-05,0.7070993856101072,0.7071141734874521,3.1257791672706505e-05],"object_position_m":[-0.14707126968342116,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,8.168328800428611e-15,3.769051196491889e-14,-4.236591649843429e-09],"object_linear_velocity_m_s":[-6.365081168219825e-14,1.3862427394698276e-14,1.1710932265464382e-14],"object_angular_velocity_rad_s":[-4.0157111277018485e-13,-1.8775019628728237e-12,-1.142513335362689e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313482261741726,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544739787573157,-1.537300937918547,1.2655978014993539,-1.3254558478718876,-1.5707562999760827,0.02604106539049068,0.0],"actuator_force":[-0.029250724586290744,-21.800212847021612,-19.191614014609968,-2.532074883690825,-0.00762855452239819,-0.02117536229579997,-0.2922564299225118],"issued_joint_targets_rad":[-1.544546666485252,-1.5255686854371355,1.2730389338162462,-1.3185369453770643,-1.5707597033608396,0.02623960514406331],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9800000000000008,"joint_targets_rad":[-1.544546666485252,-1.5255686854371355,1.2730389338162462,-1.3185369453770643,-1.5707597033608396,0.02623960514406331],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0000000000000007,"qpos":[-1.5484860089069845,-1.5361093035433615,1.3237041268337923,-1.35856665341434,-1.5707583130553842,0.02228979162247422,0.002931851246182003,0.00015584582030205544,0.0031932868955517574,-0.003426391375707931,0.002931909610201346,0.00015650778223135593,0.0032002607206901897,-0.0034342630706605407,-0.147071269683422,0.495568911061207,0.29989224457978336,1.0,4.576801853104914e-15,2.1040578804731658e-14,-4.669798043992944e-09],"qvel":[0.019866325908087585,0.05181229792599503,-0.25671943132863545,0.20121922226643765,7.537043589367255e-05,0.01994963916282811,-0.0001080642154659195,-2.0159770530832395e-05,-3.9130553681540334e-05,0.00017332477052197566,-0.00010411140917421096,3.0395920820618435e-06,5.299492600414788e-05,0.00019905933573357751,-3.017594742454585e-14,6.559425724254473e-15,1.1713707823025945e-14,-2.966584731179131e-13,-1.3691806498268791e-12,-1.236398581460412e-08],"joint_position_rad":[-1.5484860089069845,-1.5361093035433615,1.3237041268337923,-1.35856665341434,-1.5707583130553842,0.02228979162247422],"joint_velocity_rad_s":[0.019866325908087585,0.05181229792599503,-0.25671943132863545,0.20121922226643765,7.537043589367255e-05,0.01994963916282811],"linkage_position_rad":[0.002931851246182003,0.00015584582030205544,0.0031932868955517574,-0.003426391375707931,0.002931909610201346,0.00015650778223135593,0.0032002607206901897,-0.0034342630706605407],"tcp_position_m":[-0.1450854188805989,0.4948609089536352,0.41460006197066723],"tcp_quaternion_wxyz":[-7.655482775987091e-05,0.7070995199889981,0.707114036609168,4.691453978024646e-05],"object_position_m":[-0.147071269683422,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.576801853104914e-15,2.1040578804731658e-14,-4.669798043992944e-09],"object_linear_velocity_m_s":[-3.017594742454585e-14,6.559425724254473e-15,1.1713707823025945e-14],"object_angular_velocity_rad_s":[-2.966584864257982e-13,-1.3691806469430337e-12,-1.236398581460412e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931347229281561,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445422701157883,-1.536576323680607,1.2627807499843602,-1.3233569544236368,-1.5707580407535002,0.02623960292436117,0.0],"actuator_force":[-0.059052780842648644,-21.658959444889206,-19.15898116740982,-2.51707273129216,-0.007400892647410728,-0.020058265339336856,-0.2921271646959668],"issued_joint_targets_rad":[-1.5445449980675976,-1.5253687380365555,1.2727632143210188,-1.3184370041475284,-1.5707631387864038,0.026242228272914225],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0000000000000007,"joint_targets_rad":[-1.5445449980675976,-1.5253687380365555,1.2727632143210188,-1.3184370041475284,-1.5707631387864038,0.026242228272914225],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0199999999999985,"qpos":[-1.5481071959508692,-1.5351124281004624,1.3188056605599305,-1.3547378664821912,-1.5707572556908214,0.022668624704918004,0.002929925282713888,0.00015573500447882386,0.003191736645764226,-0.0034240690174244985,0.002929998044855163,0.00015645666780842195,0.003199017901716745,-0.00343179294906709,-0.14707126968342255,0.495568911061207,0.29989224457978336,1.0,2.4651330676611538e-15,1.1317520860003863e-14,-5.01149730141862e-09],"qvel":[0.01802473887703017,0.04760719077785109,-0.2334308375595772,0.182416105267264,4.922730449502037e-05,0.01804943731520049,-8.765476408896774e-05,-6.195224024787404e-07,-8.145627717374304e-05,8.682160965598314e-05,-8.751261448280212e-05,-3.803351096179048e-07,-7.887789778776637e-05,8.852319624967243e-05,-1.7259842095789862e-14,3.755294512209189e-15,1.1715095601806727e-14,-1.4591642937922344e-13,-6.703911434968184e-13,-4.9699343345924934e-08],"joint_position_rad":[-1.5481071959508692,-1.5351124281004624,1.3188056605599305,-1.3547378664821912,-1.5707572556908214,0.022668624704918004],"joint_velocity_rad_s":[0.01802473887703017,0.04760719077785109,-0.2334308375595772,0.182416105267264,4.922730449502037e-05,0.01804943731520049],"linkage_position_rad":[0.002929925282713888,0.00015573500447882386,0.003191736645764226,-0.0034240690174244985,0.002929998044855163,0.00015645666780842195,0.003199017901716745,-0.00343179294906709],"tcp_position_m":[-0.145275786086722,0.49492257254482985,0.41608686194380673],"tcp_quaternion_wxyz":[-0.00010325500748074954,0.7070995238347426,0.707114027294695,7.165305981120249e-05],"object_position_m":[-0.14707126968342255,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,2.4651330676611538e-15,1.1317520860003863e-14,-5.01149730141862e-09],"object_linear_velocity_m_s":[-1.7259842095789862e-14,3.755294512209189e-15,1.1715095601806727e-14],"object_angular_velocity_rad_s":[-1.4591643722349694e-13,-6.703911417892679e-13,-4.9699343345924934e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313477588190133,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445413817809825,-1.5363874199498266,1.2625121860726285,-1.3232586144660374,-1.5707614830329335,0.026242226602412818,0.0],"actuator_force":[-0.07826721103901946,-21.592860009868673,-19.214613950773128,-2.501984518649465,-0.007036401505501999,-0.018142782772642363,-0.2921203294855937],"issued_joint_targets_rad":[-1.5445432751393517,-1.525200718273305,1.2725298689001923,-1.318349534994157,-1.570766365189729,0.026244815901687896],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0199999999999985,"joint_targets_rad":[-1.5445432751393517,-1.525200718273305,1.2725298689001923,-1.318349534994157,-1.570766365189729,0.026244815901687896],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0399999999999963,"qpos":[-1.5477642528108058,-1.5341938434422335,1.3143549141441269,-1.351266456036283,-1.5707567041010506,0.02301139395310043,0.002928494225849978,0.00015577743973324952,0.00319020657420078,-0.003422833006150935,0.002928559264104402,0.0001564390718777879,0.0031972658680574795,-0.003430612010357803,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.3038146793693985e-15,5.977891416661177e-15,-5.199942133142636e-09],"qvel":[0.016302579890124347,0.043945171064372006,-0.21205318856407301,0.16540815470545003,2.3463240850285224e-05,0.016331251538727023,-6.22713704531012e-05,1.31346194284794e-06,-6.376347874835467e-05,5.472522361297983e-05,-6.214576997961152e-05,6.906685452951937e-07,-6.703309012729703e-05,5.2048256704061186e-05,-8.607440233897196e-15,1.875118668342784e-15,1.1706768929122037e-14,-8.912135300344027e-14,-4.0998065449869543e-13,-5.378335264061522e-09],"joint_position_rad":[-1.5477642528108058,-1.5341938434422335,1.3143549141441269,-1.351266456036283,-1.5707567041010506,0.02301139395310043],"joint_velocity_rad_s":[0.016302579890124347,0.043945171064372006,-0.21205318856407301,0.16540815470545003,2.3463240850285224e-05,0.016331251538727023],"linkage_position_rad":[0.002928494225849978,0.00015577743973324952,0.00319020657420078,-0.003422833006150935,0.002928559264104402,0.0001564390718777879,0.0031972658680574795,-0.003430612010357803],"tcp_position_m":[-0.14544809294945799,0.49497881509874725,0.41743064817576714],"tcp_quaternion_wxyz":[-0.00012543762022947842,0.7070994589076071,0.7071140862270983,9.239690415578453e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.3038146793693985e-15,5.977891416661177e-15,-5.199942133142636e-09],"object_linear_velocity_m_s":[-8.607440233897196e-15,1.875118668342784e-15,1.1706768929122037e-14],"object_angular_velocity_rad_s":[-8.912135733149385e-14,-4.09980653557819e-13,-5.378335264061522e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931349510883277,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445403105985038,-1.5362297591787266,1.2622854825931926,-1.3231724970879708,-1.5707647151790438,0.026244814693908748,0.0],"actuator_force":[-0.07314753144555652,-21.64989989873493,-19.317587676239327,-2.4938359963889525,-0.006351863081590636,-0.016414783468544414,-0.29223058879555547],"issued_joint_targets_rad":[-1.5445416035864405,-1.5250607054615375,1.272333827871218,-1.3182732644323722,-1.5707692516291079,0.026247269547323746],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0399999999999963,"joint_targets_rad":[-1.5445416035864405,-1.5250607054615375,1.272333827871218,-1.3182732644323722,-1.5707692516291079,0.026247269547323746],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.059999999999994,"qpos":[-1.5474542172857204,-1.5333467261550484,1.3103134292658978,-1.3481189687419306,-1.5707566128717794,0.0233215442245525,0.0029275169681684528,0.00015582667075669373,0.0031890834939550593,-0.003422056443540277,0.002927576338053213,0.00015643045100620045,0.0031959074535942013,-0.0034299186786056423,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,6.935535121457593e-16,3.2641951885901755e-15,-5.660704240881734e-09],"qvel":[0.014738809678351958,0.04052409740951764,-0.19254727786532508,0.14997772728754172,1.475620173615531e-06,0.014777149236482875,-4.1451453068222465e-05,1.3803201095028626e-06,-4.414452532949592e-05,3.488917262283143e-05,-4.134522891544691e-05,5.865164756747029e-07,-4.826632743198003e-05,3.195974996579477e-05,-4.776993238288821e-15,1.0196668497206778e-15,1.17095444866836e-14,-4.622439378222241e-14,-2.0974998415843568e-13,-2.1619220122583492e-08],"joint_position_rad":[-1.5474542172857204,-1.5333467261550484,1.3103134292658978,-1.3481189687419306,-1.5707566128717794,0.0233215442245525],"joint_velocity_rad_s":[0.014738809678351958,0.04052409740951764,-0.19254727786532508,0.14997772728754172,1.475620173615531e-06,0.014777149236482875],"linkage_position_rad":[0.0029275169681684528,0.00015582667075669373,0.0031890834939550593,-0.003422056443540277,0.002927576338053213,0.00015643045100620045,0.0031959074535942013,-0.0034299186786056423],"tcp_position_m":[-0.14560382841361644,0.4950304188790903,0.41864362979713254],"tcp_quaternion_wxyz":[-0.000142454617980941,0.7070994963867391,0.7071140432364548,0.00010850849807690761],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,6.935535121457593e-16,3.2641951885901755e-15,-5.660704240881734e-09],"object_linear_velocity_m_s":[-4.776993238288821e-15,1.0196668497206778e-15,1.17095444866836e-14],"object_angular_velocity_rad_s":[-4.622439629802637e-14,-2.0974998360512225e-13,-2.1619220122583492e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313509612024322,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445391747644226,-1.5360995407356082,1.2620955808299663,-1.3230973344136836,-1.5707676075984314,0.026247268714939535,0.0],"actuator_force":[-0.06543882874484552,-21.71526812492675,-19.416785725733007,-2.4869555646307617,-0.005644925343290197,-0.01485267845476912,-0.29234068190116497],"issued_joint_targets_rad":[-1.5445400021796631,-1.5249439950482229,1.2721690947766988,-1.318206750034559,-1.5707718301164106,0.02624957852913347],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.059999999999994,"joint_targets_rad":[-1.5445400021796631,-1.5249439950482229,1.2721690947766988,-1.318206750034559,-1.5707718301164106,0.02624957852913347],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0799999999999919,"qpos":[-1.547173961675558,-1.532566564364359,1.3066449392498038,-1.3452653851369727,-1.570756902429354,0.023602188324659316,0.0029269005951729258,0.00015587213528964598,0.0031883253638072444,-0.0034216105411228976,0.0029269549071412296,0.00015642255529591271,0.0031949305016448805,-0.0034295507403745685,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,3.6179627448313776e-16,1.7101802815813378e-15,-5.8850233187821055e-09],"qvel":[0.013325333212133772,0.03731157944533808,-0.17477448655790587,0.13597524738383981,-1.645493578289414e-05,0.013371345696823531,-2.5184311897868882e-05,1.3348116411759036e-06,-2.8172110136950406e-05,1.9627304483983593e-05,-2.5120001013438275e-05,4.3701188508687385e-07,-3.2590867436634476e-05,1.6866450407107787e-05,-2.7853290679900057e-15,6.149244005538451e-16,1.1712320044245164e-14,-1.774511253872477e-14,-9.530052104838544e-14,-8.690248111385418e-08],"joint_position_rad":[-1.547173961675558,-1.532566564364359,1.3066449392498038,-1.3452653851369727,-1.570756902429354,0.023602188324659316],"joint_velocity_rad_s":[0.013325333212133772,0.03731157944533808,-0.17477448655790587,0.13597524738383981,-1.645493578289414e-05,0.013371345696823531],"linkage_position_rad":[0.0029269005951729258,0.00015587213528964598,0.0031883253638072444,-0.0034216105411228976,0.0029269549071412296,0.00015642255529591271,0.0031949305016448805,-0.0034295507403745685],"tcp_position_m":[-0.1457445667152804,0.4950777583899471,0.4197383815048221],"tcp_quaternion_wxyz":[-0.00015495579704069033,0.7070996312253015,0.7071139038189544,0.0001205639308389221],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.6179627448313776e-16,1.7101802815813378e-15,-5.8850233187821055e-09],"object_linear_velocity_m_s":[-2.7853290679900057e-15,6.149244005538451e-16,1.1712320044245164e-14],"object_angular_velocity_rad_s":[-1.7745113957654167e-14,-9.530052077664265e-14,-8.690248111385418e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313520504618246,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544538012672627,-1.5359920571588315,1.2619365084927383,-1.3230317210202267,-1.570770192341477,0.026249577998383507,0.0],"actuator_force":[-0.058235278991560335,-21.775617367080486,-19.507066890968872,-2.480692680010975,-0.004999462483283423,-0.013439732820257788,-0.29244125355115125],"issued_joint_targets_rad":[-1.5445384774046658,-1.5248465949995973,1.2720305427160834,-1.3181487186419822,-1.5707741398557988,0.026251743551129626],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0799999999999919,"joint_targets_rad":[-1.5445384774046658,-1.5248465949995973,1.2720305427160834,-1.3181487186419822,-1.5707741398557988,0.026251743551129626],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0999999999999897,"qpos":[-1.5469206068473444,-1.5318491101991099,1.303316066614112,-1.342678472942595,-1.5707574990328521,0.023856140644536592,0.002926562997028064,0.0001559133955987798,0.003187855550038339,-0.003421416591373992,0.002926612635470287,0.00015641481623249453,0.0031942599072993516,-0.003429427772732895,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,2.0169291347599897e-16,9.223283897852003e-16,-6.214531161892128e-09],"qvel":[0.012048336546571854,0.034303873786679984,-0.1585929239268548,0.12326965081572389,-3.085657678312764e-05,0.012099628653583274,-1.26965285347956e-05,1.2650245867501961e-06,-1.5804268739993427e-05,8.019242875736796e-06,-1.266560625527579e-05,3.06660200118892e-07,-2.0342169244225167e-05,5.443941964413724e-06,-1.334365237420403e-15,2.902006900833008e-16,1.1712320044245164e-14,-1.328810437091735e-14,-6.19517186124129e-14,-9.404363262023047e-09],"joint_position_rad":[-1.5469206068473444,-1.5318491101991099,1.303316066614112,-1.342678472942595,-1.5707574990328521,0.023856140644536592],"joint_velocity_rad_s":[0.012048336546571854,0.034303873786679984,-0.1585929239268548,0.12326965081572389,-3.085657678312764e-05,0.012099628653583274],"linkage_position_rad":[0.002926562997028064,0.0001559133955987798,0.003187855550038339,-0.003421416591373992,0.002926612635470287,0.00015641481623249453,0.0031942599072993516,-0.003429427772732895],"tcp_position_m":[-0.14587175799644753,0.4951211462905265,0.4207264331621849],"tcp_quaternion_wxyz":[-0.0001636491067889983,0.707099840604163,0.7071136909613901,0.0001291955746378008],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,2.0169291347599897e-16,9.223283897852003e-16,-6.214531161892128e-09],"object_linear_velocity_m_s":[-1.334365237420403e-15,2.902006900833008e-16,1.1712320044245164e-14],"object_angular_velocity_rad_s":[-1.3288105158266945e-14,-6.195171844346063e-14,-9.404363262023047e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313528430080618,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544536847987486,-1.5359033118786913,1.2618031654949151,-1.3229744184632766,-1.5707725085227504,0.026251743261107654,0.0],"actuator_force":[-0.05181689891151109,-21.829952873834827,-19.588632667651382,-2.474937841913288,-0.004419087270889577,-0.012161557072797535,-0.29253197095096717],"issued_joint_targets_rad":[-1.5445370327357937,-1.5247651979290369,1.2719138771633902,-1.3180980537961962,-1.5707762147684625,0.02625376760113004],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0999999999999897,"joint_targets_rad":[-1.5445370327357937,-1.5247651979290369,1.2719138771633902,-1.3180980537961962,-1.5707762147684625,0.02625376760113004],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1199999999999875,"qpos":[-1.546691549611294,-1.5311901945953368,1.300296224130367,-1.340333496818581,-1.5707583396680935,0.02408594608293525,0.002926437551484686,0.00015595070578572603,0.0031876075960063626,-0.0034214120323111715,0.002926482875468348,0.0001564072079340022,0.0031938281914669726,-0.0034294876861863614,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.2298738390899403e-16,5.090542428395105e-16,-6.625136736254669e-09],"qvel":[0.010894580022989748,0.03149777538411556,-0.14386905448700463,0.11174226780973831,-4.227026161707178e-05,0.010949159466910892,-3.2381036553935974e-06,1.1898513745041763e-06,-6.380271574951513e-06,-7.019978474543315e-07,-3.2327410951521645e-06,2.021573161434215e-07,-1.0928928748461158e-05,-3.093187988670278e-06,-7.667500840492599e-16,1.8465968535921768e-16,1.1716483380587509e-14,-5.803228692888023e-15,-2.967915705024962e-14,-3.780258936868047e-08],"joint_position_rad":[-1.546691549611294,-1.5311901945953368,1.300296224130367,-1.340333496818581,-1.5707583396680935,0.02408594608293525],"joint_velocity_rad_s":[0.010894580022989748,0.03149777538411556,-0.14386905448700463,0.11174226780973831,-4.227026161707178e-05,0.010949159466910892],"linkage_position_rad":[0.002926437551484686,0.00015595070578572603,0.0031876075960063626,-0.0034214120323111715,0.002926482875468348,0.0001564072079340022,0.0031938281914669726,-0.0034294876861863614],"tcp_position_m":[-0.1459867138898893,0.4951608757471747,0.42161820600314515],"tcp_quaternion_wxyz":[-0.0001691624594889048,0.7071001039032719,0.7071134252923618,0.00013496424428779155],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.2298738390899403e-16,5.090542428395105e-16,-6.625136736254669e-09],"object_linear_velocity_m_s":[-7.667500840492599e-16,1.8465968535921768e-16,1.1716483380587509e-14],"object_angular_velocity_rad_s":[-5.803229124632107e-15,-2.9679156964056764e-14,-3.780258936868047e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313534011940866,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445356984079388,-1.535830002184668,1.2616912848853647,-1.3229243397731572,-1.570774589978277,0.026253767501752453,0.0],"actuator_force":[-0.04612960248550735,-21.878725332308477,-19.66225669520327,-2.469648258261941,-0.0038981289299044874,-0.011005237282486036,-0.29261366712389897],"issued_joint_targets_rad":[-1.544535669896787,-1.5246970716696229,1.2718155123139416,-1.318053781005648,-1.5707780833599492,0.026255654778887017],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.1199999999999875,"joint_targets_rad":[-1.544535669896787,-1.5246970716696229,1.2718155123139416,-1.318053781005648,-1.5707780833599492,0.026255654778887017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1399999999999852,"qpos":[-1.546484441394969,-1.530585752200213,1.297557425696707,-1.3382079888007028,-1.570759371120713,0.02429390599614521,0.0029264711597193375,0.00015598442866797329,0.003187528022804895,-0.0034215475283402787,0.002926512507892181,0.00015639980375472246,0.0031935806361712716,-0.003429681697835099,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,7.12478720253373e-17,2.7077571180630236e-16,-6.768472686243579e-09],"qvel":[0.00985204473939345,0.02888796877161626,-0.13047881446375598,0.10128517237522917,-5.116548596860592e-05,0.009908335291242175,3.8122956417785085e-06,1.1136371564879032e-06,6.961069997284512e-07,-7.139359522977705e-06,3.798455956763052e-06,1.2050802815076141e-07,-3.7843474294701426e-06,-9.352709653873601e-06,-3.8800024992788155e-16,9.761186956362704e-17,1.1715095601806727e-14,-4.313149104376306e-15,-1.8548456988578762e-14,-4.0908991102612716e-09],"joint_position_rad":[-1.546484441394969,-1.530585752200213,1.297557425696707,-1.3382079888007028,-1.570759371120713,0.02429390599614521],"joint_velocity_rad_s":[0.00985204473939345,0.02888796877161626,-0.13047881446375598,0.10128517237522917,-5.116548596860592e-05,0.009908335291242175],"linkage_position_rad":[0.0029264711597193375,0.00015598442866797329,0.003187528022804895,-0.0034215475283402787,0.002926512507892181,0.00015639980375472246,0.0031935806361712716,-0.003429681697835099],"tcp_position_m":[-0.14609061807787524,0.49519722460332605,0.4224231018253217],"tcp_quaternion_wxyz":[-0.00017203810323747543,0.70710040437273,0.7071131234795598,0.00013835386791057945],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,7.12478720253373e-17,2.7077571180630236e-16,-6.768472686243579e-09],"object_linear_velocity_m_s":[-3.8800024992788155e-16,9.761186956362704e-17,1.1715095601806727e-14],"object_angular_velocity_rad_s":[-4.313149357681187e-15,-1.854845692960896e-14,-4.0908991102612716e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313537762963169,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544534577349597,-1.535769408552696,1.2615973084757353,-1.322880535164275,-1.5707764651436906,0.02625565482904704,0.0],"actuator_force":[-0.04108980501359838,-21.92250021361224,-19.728708656441086,-2.464790419308997,-0.003430462891856223,-0.009959112673302073,-0.29268723713856865],"issued_joint_targets_rad":[-1.5445343892327927,-1.5246399595561564,1.2717324566195152,-1.3180150527494425,-1.5707797696679997,0.026257409993353135],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.1399999999999852,"joint_targets_rad":[-1.5445343892327927,-1.5246399595561564,1.2717324566195152,-1.3180150527494425,-1.5707797696679997,0.026257409993353135],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.159999999999983,"qpos":[-1.5462971634930602,-1.5300318585143307,1.295074093790341,-1.3362815434426578,-1.5707605485816043,0.0244821016213089,0.002926621755295288,0.00015601490799076707,0.0031875742892439655,-0.0034217841735835622,0.0029266594462822016,0.00015639266946031695,0.0031934734969031654,-0.003429971433242231,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,6.429758456338805e-17,1.472829037299186e-16,-7.219293980265675e-09],"qvel":[0.008909894367053086,0.026467331351202973,-0.11830738228160508,0.09180016035453356,-5.794198165663804e-05,0.00896666913911671,8.957921991130923e-06,1.03805724000703e-06,5.912320060531255e-06,-1.1774561315642424e-05,8.929974560852105e-06,5.747876787941436e-08,1.5577956046762312e-06,-1.3818033404593741e-05,-2.1558759611759717e-16,8.433707456023867e-17,1.1715095601806726e-14,-2.0732770406325436e-15,-9.75509631448175e-15,-1.644413076198518e-08],"joint_position_rad":[-1.5462971634930602,-1.5300318585143307,1.295074093790341,-1.3362815434426578,-1.5707605485816043,0.0244821016213089],"joint_velocity_rad_s":[0.008909894367053086,0.026467331351202973,-0.11830738228160508,0.09180016035453356,-5.794198165663804e-05,0.00896666913911671],"linkage_position_rad":[0.002926621755295288,0.00015601490799076707,0.0031875742892439655,-0.0034217841735835622,0.0029266594462822016,0.00015639266946031695,0.0031934734969031654,-0.003429971433242231],"tcp_position_m":[-0.1461845386471904,0.4952304552743386,0.4231496012162583],"tcp_quaternion_wxyz":[-0.0001727418293519325,0.7071007286863843,0.7071127987195825,0.0001397798398361025],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,6.429758456338805e-17,1.472829037299186e-16,-7.219293980265675e-09],"object_linear_velocity_m_s":[-2.1558759611759717e-16,8.433707456023867e-17,1.1715095601806726e-14],"object_angular_velocity_rad_s":[-2.0732771863262382e-15,-9.75509628243192e-15,-1.644413076198518e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313540095472071,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445334947563991,-1.5357192928088934,1.2615182719149163,-1.3228421777535264,-1.5707781580002025,0.0262574101593746,0.0],"actuator_force":[-0.03662027349901109,-21.961801129606556,-19.788690838207458,-2.4603331908876953,-0.003010511133425098,-0.009012644878822584,-0.2927534995616344],"issued_joint_targets_rad":[-1.5459847247058387,-1.5394851320142713,1.3518637637330992,-1.3828962785116783,-1.5708222964592427,0.02481082677994315],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.159999999999983,"joint_targets_rad":[-1.5459847247058387,-1.5394851320142713,1.3518637637330992,-1.3828962785116783,-1.5708222964592427,0.02481082677994315],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1799999999999808,"qpos":[-1.5463143273033981,-1.5304434605335897,1.2942703706835181,-1.3359791030883927,-1.5707587282394895,0.024520317203838207,0.002923134596089322,0.00015423089637355345,0.0031938283566415285,-0.00341489750002206,0.002923762856906987,0.00015885117988419944,0.0032156921434980425,-0.0034197112542930217,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,5.354979674206615e-17,9.208988442860618e-17,-7.541053597795109e-09],"qvel":[-0.00025375310033624713,-0.05170406138787957,0.026725103987838766,-0.05700149076858173,-0.0006232286686684731,0.0014698675624925262,-0.0004539846788550379,-4.970413834558519e-06,-0.00018020263182347802,0.000929947438082127,-0.0004524415895943714,-0.00014390605677195686,-0.0008463910913080876,0.000522444501042596,-1.6581846569059687e-16,1.0439715803401934e-16,1.1706768929122037e-14,8.620174086903828e-16,-1.189979641448335e-15,-6.610024574769675e-08],"joint_position_rad":[-1.5463143273033981,-1.5304434605335897,1.2942703706835181,-1.3359791030883927,-1.5707587282394895,0.024520317203838207],"joint_velocity_rad_s":[-0.00025375310033624713,-0.05170406138787957,0.026725103987838766,-0.05700149076858173,-0.0006232286686684731,0.0014698675624925262],"linkage_position_rad":[0.002923134596089322,0.00015423089637355345,0.0031938283566415285,-0.00341489750002206,0.002923762856906987,0.00015885117988419944,0.0032156921434980425,-0.0034197112542930217],"tcp_position_m":[-0.1461752178500381,0.4951804252731788,0.4237114429700586],"tcp_quaternion_wxyz":[-0.0005039345686875016,0.7071201567834202,0.7070930800990762,0.0004538684197082372],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,5.354979674206615e-17,9.208988442860618e-17,-7.541053597795109e-09],"object_linear_velocity_m_s":[-1.6581846569059687e-16,1.0439715803401934e-16,1.1706768929122037e-14],"object_angular_velocity_rad_s":[8.620173785686543e-16,-1.1899796473700643e-15,-6.610024574769675e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313254145653076,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.545984480424046,-1.5505525020686948,1.2915205557933163,-1.352845869268159,-1.570820686083165,0.024810828504889765,0.0],"actuator_force":[0.7611949988390734,-19.536458515058257,-16.189671375539092,-2.733234013024912,0.0313439450289934,-0.0017311057234739025,-0.2878127413075684],"issued_joint_targets_rad":[-1.5460000984622218,-1.5393310749051972,1.3502412955889618,-1.3814338759151363,-1.5708220524002738,0.02479555815298449],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.1799999999999808,"joint_targets_rad":[-1.5460000984622218,-1.5393310749051972,1.3502412955889618,-1.3814338759151363,-1.5708220524002738,0.02479555815298449],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1999999999999786,"qpos":[-1.5462827597453255,-1.5315733042689317,1.2962410239463908,-1.3386182215882647,-1.5707671433455639,0.0245467837475166,0.0029103373470414375,0.0001532893676881394,0.003183043142758784,-0.003394361709614239,0.0029107358524996054,0.00015633873039064063,0.0031982779386891935,-0.003401500797326776,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,3.977595305309193e-17,6.147763079029113e-17,-7.791685675570091e-09],"qvel":[0.0023238867826520584,-0.05684397630320862,0.16327943845337414,-0.19685011983096584,-0.0003050762885125556,0.0012562814042637504,-0.0006644457781533016,-2.8642940177855658e-05,-0.0006651414602887969,0.0008110402620014639,-0.0006724165300704766,-6.276444652260364e-05,-0.0007816351853145151,0.0008299083102743035,-8.225567443722111e-17,5.214394473368762e-17,1.1708156707902818e-14,-2.3218683017769442e-15,-3.470098190105271e-15,-7.1531987896399525e-09],"joint_position_rad":[-1.5462827597453255,-1.5315733042689317,1.2962410239463908,-1.3386182215882647,-1.5707671433455639,0.0245467837475166],"joint_velocity_rad_s":[0.0023238867826520584,-0.05684397630320862,0.16327943845337414,-0.19685011983096584,-0.0003050762885125556,0.0012562814042637504],"linkage_position_rad":[0.0029103373470414375,0.0001532893676881394,0.003183043142758784,-0.003394361709614239,0.0029107358524996054,0.00015633873039064063,0.0031982779386891935,-0.003401500797326776],"tcp_position_m":[-0.146190089286732,0.4952326291556945,0.4235909308451922],"tcp_quaternion_wxyz":[-0.0011522476063162339,0.7071176292437192,0.7070941740650397,0.0010769129372888877],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.977595305309193e-17,6.147763079029113e-17,-7.791685675570091e-09],"object_linear_velocity_m_s":[-8.225567443722111e-17,5.214394473368762e-17,1.1708156707902818e-14],"object_angular_velocity_rad_s":[-2.321868356732296e-15,-3.470098153353684e-15,-7.1531987896399525e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931334148855976,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5459990510205126,-1.550380624899009,1.3215181675937373,-1.3828500720410788,-1.5708204779873916,0.024795561904389633,0.0],"actuator_force":[-0.3621372634352156,-14.877050738871276,-14.757488086656394,-2.4309132433104423,0.0038403079374802473,-0.0012390619898585697,-0.28436934843593326],"issued_joint_targets_rad":[-1.5459776763520923,-1.5392588062525063,1.350467332110075,-1.381744836231892,-1.570821382356136,0.024817970525240093],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.1999999999999786,"joint_targets_rad":[-1.5459776763520923,-1.5392588062525063,1.350467332110075,-1.381744836231892,-1.570821382356136,0.024817970525240093],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2199999999999764,"qpos":[-1.5462336759207278,-1.5326151417626757,1.3006808308655107,-1.3428335941822096,-1.5707728331355963,0.02457267483304267,0.002899840958552577,0.0001538061536759037,0.003168172533071731,-0.0033852964592969133,0.002900081258906614,0.00015506577506609176,0.0031774684235982504,-0.003392946661620486,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.5812358785188486e-17,4.155556298351277e-17,-8.204647238693356e-09],"qvel":[0.002933385559848506,-0.04212763543419793,0.24748280339482878,-0.19799966093020493,-0.00026273323201343594,0.0012387510990168754,0.00010007449735434586,0.0002097808717331896,-0.0007924764136304414,-0.0008294822653418383,6.801888588868264e-05,-6.681273569223136e-05,-0.0018031756362996852,-0.0010047542727018228,-5.812951355862879e-17,1.9527821816693886e-17,1.1706768929122035e-14,-1.8169843144634655e-15,-1.6089837516173976e-15,-2.875361457051609e-08],"joint_position_rad":[-1.5462336759207278,-1.5326151417626757,1.3006808308655107,-1.3428335941822096,-1.5707728331355963,0.02457267483304267],"joint_velocity_rad_s":[0.002933385559848506,-0.04212763543419793,0.24748280339482878,-0.19799966093020493,-0.00026273323201343594,0.0012387510990168754],"linkage_position_rad":[0.002899840958552577,0.0001538061536759037,0.003168172533071731,-0.0033852964592969133,0.002900081258906614,0.00015506577506609176,0.0031774684235982504,-0.003392946661620486],"tcp_position_m":[-0.1462147773155358,0.49530019295187966,0.4223947327902744],"tcp_quaternion_wxyz":[-0.0014463335653104306,0.7071089144448299,0.7071018594384633,0.0013607389679337542],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.5812358785188486e-17,4.155556298351277e-17,-8.204647238693356e-09],"object_linear_velocity_m_s":[-5.812951355862879e-17,1.9527821816693886e-17,1.1706768929122035e-14],"object_angular_velocity_rad_s":[-1.8169843432554986e-15,-1.608983720892642e-15,-2.875361457051609e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313562376196248,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.545973673508942,-1.550304625482717,1.3402463442445627,-1.3865776594915358,-1.5708198272113683,0.02481797399693929,0.0],"actuator_force":[-0.6533494003679152,-18.52791326640363,-19.862094599827742,-2.0720665616424867,0.002776285315462701,-0.001225527953376826,-0.2908365777891747],"issued_joint_targets_rad":[-1.545936495589831,-1.5396374834280278,1.3539555348318995,-1.384861035679501,-1.570820947907712,0.0248591163078315],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.2199999999999764,"joint_targets_rad":[-1.545936495589831,-1.5396374834280278,1.3539555348318995,-1.384861035679501,-1.570820947907712,0.0248591163078315],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2399999999999742,"qpos":[-1.5461899879525036,-1.533350434832641,1.3057325426377184,-1.3468465669103267,-1.5707765724881486,0.024599928877968812,0.0029045003474138776,0.00015629973619324134,0.00316425552497269,-0.00340106763349002,0.0029044236739427273,0.00015579499382191084,0.0031670648117644467,-0.0034096332562320903,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,2.698985701346755e-18,2.4780244653976242e-17,-8.369906654522597e-09],"qvel":[0.001751311180453754,-0.031434354360426194,0.24390701338355292,-0.19127509349425764,-0.00017992721228446589,0.0013087138303928677,0.00037656473160245404,7.074916915274605e-05,0.0001403065341478563,-0.0007087461473031958,0.0003702576310163133,3.941324460259329e-05,1.7054702677404516e-05,-0.0007370755290738637,-1.897201449330029e-17,-2.6391129125400683e-17,1.1708156707902817e-14,-2.7805347954835762e-15,-2.497692248232552e-15,-1.1558050813115269e-07],"joint_position_rad":[-1.5461899879525036,-1.533350434832641,1.3057325426377184,-1.3468465669103267,-1.5707765724881486,0.024599928877968812],"joint_velocity_rad_s":[0.001751311180453754,-0.031434354360426194,0.24390701338355292,-0.19127509349425764,-0.00017992721228446589,0.0013087138303928677],"linkage_position_rad":[0.0029045003474138776,0.00015629973619324134,0.00316425552497269,-0.00340106763349002,0.0029044236739427273,0.00015579499382191084,0.0031670648117644467,-0.0034096332562320903],"tcp_position_m":[-0.14623535123968076,0.49528942539004894,0.4207283420215857],"tcp_quaternion_wxyz":[-0.0013352017498664563,0.7071033127959683,0.7071078709366196,0.0012574294153183815],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,2.698985701346755e-18,2.4780244653976242e-17,-8.369906654522597e-09],"object_linear_velocity_m_s":[-1.897201449330029e-17,-2.6391129125400683e-17,1.1708156707902817e-14],"object_angular_velocity_rad_s":[-2.7805348430227045e-15,-2.4976922010630182e-15,-1.1558050813115269e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.093137899609316,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5459321172438052,-1.5506780950324603,1.343725431835947,-1.3896924950034275,-1.5708194006993592,0.024859119124748703,0.0],"actuator_force":[-0.1847830547844751,-22.081578655468093,-21.577026956963437,-2.2954546971246828,-0.0034213843769066443,-0.0012762596493409717,-0.2941803128809241],"issued_joint_targets_rad":[-1.5458975296191833,-1.5403772007116872,1.359040349170497,-1.3892054883068712,-1.5708208487638986,0.024898067042556666],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.2399999999999742,"joint_targets_rad":[-1.5458975296191833,-1.5403772007116872,1.359040349170497,-1.3892054883068712,-1.5708208487638986,0.024898067042556666],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.259999999999972,"qpos":[-1.5461607464156608,-1.5340253055823323,1.3107881252017235,-1.3508672111327191,-1.5707806823755393,0.02462832334190469,0.0029097106573816485,0.0001565295306694027,0.003168690886626347,-0.0034071802581069643,0.0029096695893276276,0.00015610054179818824,0.0031715212768189676,-0.003416174296141966,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-6.040595915288457e-18,1.005336269541006e-17,-8.808152875478695e-09],"qvel":[0.001595326068629738,-0.030910196824989553,0.24442586309765862,-0.19277151791088698,-0.00018586334192728415,0.0013622842658947952,0.00034823124278775453,3.535394211685678e-05,0.00019098756586551085,-0.0004793943335615385,0.0003412720018374214,-1.9087441779628394e-06,6.204638850498537e-05,-0.0004902859789722905,-1.403714859064595e-17,-6.616311369985429e-18,1.1706768929122035e-14,-2.6509193826208242e-17,-7.898965552847521e-16,-1.2507825674740286e-08],"joint_position_rad":[-1.5461607464156608,-1.5340253055823323,1.3107881252017235,-1.3508672111327191,-1.5707806823755393,0.02462832334190469],"joint_velocity_rad_s":[0.001595326068629738,-0.030910196824989553,0.24442586309765862,-0.19277151791088698,-0.00018586334192728415,0.0013622842658947952],"linkage_position_rad":[0.0029097106573816485,0.0001565295306694027,0.003168690886626347,-0.0034071802581069643,0.0029096695893276276,0.00015610054179818824,0.0031715212768189676,-0.003416174296141966],"tcp_position_m":[-0.1462489123018466,0.49529041388708134,0.4190288660026298],"tcp_quaternion_wxyz":[-0.001203421445272332,0.7071032390056123,0.7071083887962536,0.0011347504404548502],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-6.040595915288457e-18,1.005336269541006e-17,-8.808152875478695e-09],"object_linear_velocity_m_s":[-1.403714859064595e-17,-6.616311369985429e-18,1.1706768929122035e-14],"object_angular_velocity_rad_s":[-2.6509207992758885e-17,-7.898965549688674e-16,-1.2507825674740286e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931376395416404,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5458931000333633,-1.551412529412348,1.3488014662637942,-1.3940357094282787,-1.5708193153230818,0.024898069293980293,0.0],"actuator_force":[-0.10283766285647289,-22.410368930035474,-21.74366311492213,-2.307097356691088,-0.0007301395785361819,-0.0013554505516779614,-0.2944165285585897],"issued_joint_targets_rad":[-1.5458708695340313,-1.5410940433735774,1.3641834024418242,-1.3936306587960985,-1.570820764235764,0.02492474285143366],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.259999999999972,"joint_targets_rad":[-1.5458708695340313,-1.5410940433735774,1.3641834024418242,-1.3936306587960985,-1.570820764235764,0.02492474285143366],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2799999999999698,"qpos":[-1.5461329062079308,-1.5346992517348244,1.3158532135413792,-1.3549247140004357,-1.5707845265997613,0.024656611675421203,0.002914110038584004,0.0001565372211161212,0.0031729809781022617,-0.0034113709630375862,0.002914073059723256,0.0001561142564058705,0.003175807581748399,-0.0034204030988736304,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-4.954221371594612e-18,5.805670670716267e-18,-9.153827386041891e-09],"qvel":[0.0015733204941143968,-0.031056260586359824,0.24485445615358406,-0.1946151312004015,-0.00016832310957398233,0.00135416081221969,0.000306852072176693,3.422178828494966e-05,0.0001608600053989571,-0.00043634952518328005,0.0002991685198647897,-4.524491237229744e-06,3.060974935161614e-05,-0.00044003325491989416,-1.0440267282872431e-17,-1.388853391102778e-17,1.1715095601806724e-14,1.5099854624079555e-16,-6.804317750593327e-17,-5.027753444899996e-08],"joint_position_rad":[-1.5461329062079308,-1.5346992517348244,1.3158532135413792,-1.3549247140004357,-1.5707845265997613,0.024656611675421203],"joint_velocity_rad_s":[0.0015733204941143968,-0.031056260586359824,0.24485445615358406,-0.1946151312004015,-0.00016832310957398233,0.00135416081221969],"linkage_position_rad":[0.002914110038584004,0.0001565372211161212,0.0031729809781022617,-0.0034113709630375862,0.002914073059723256,0.0001561142564058705,0.003175807581748399,-0.0034204030988736304],"tcp_position_m":[-0.14626186410320763,0.49529228174280615,0.4173262217106384],"tcp_quaternion_wxyz":[-0.001081296198839417,0.7071035856645569,0.7071084126960536,0.0010210941798948973],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-4.954221371594612e-18,5.805670670716267e-18,-9.153827386041891e-09],"object_linear_velocity_m_s":[-1.0440267282872431e-17,-1.388853391102778e-17,1.1715095601806724e-14],"object_angular_velocity_rad_s":[1.509985444112949e-16,-6.804318076853458e-17,-5.027753444899996e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313725566147282,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5458664257122856,-1.5521238363351817,1.353935876306137,-1.3984597801144936,-1.5708192437760071,0.024924744599708566,0.0],"actuator_force":[-0.09636720635580787,-22.426664966170847,-21.776456931917892,-2.3060199369887187,-0.0005262771654770404,-0.001349619078286679,-0.2944392578755704],"issued_joint_targets_rad":[-1.545845290320321,-1.5417920661261655,1.3693109071384975,-1.3980592785224935,-1.5708206713966735,0.024950337883112367],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.2799999999999698,"joint_targets_rad":[-1.545845290320321,-1.5417920661261655,1.3693109071384975,-1.3980592785224935,-1.5708206713966735,0.024950337883112367],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2999999999999676,"qpos":[-1.5461052936787936,-1.5353753951935625,1.3209246690204042,-1.3590176535279197,-1.5707880052686853,0.02468464699226583,0.0029177301755064517,0.00015653813694307815,0.0031765757328169586,-0.003414813881031817,0.002917692766209555,0.0001561128971926707,0.0031793938091839806,-0.003423845353532286,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.5213678944732026e-18,4.203071929914798e-18,-9.344464543011837e-09],"qvel":[0.0015636757818174969,-0.031166987786633724,0.24514169323924334,-0.19630913261679925,-0.00015041284241754102,0.0013418360867751059,0.0002709158674186802,3.400940860390339e-05,0.00012716171853417965,-0.00040178131956398967,0.0002632847197213316,-4.421346373600937e-06,-1.7475256839215357e-06,-0.00040533467880457915,-5.391730018573441e-18,-3.2219340435393975e-18,1.1716483380587506e-14,7.56741670444287e-17,-1.843274461733439e-16,-5.440905619918959e-09],"joint_position_rad":[-1.5461052936787936,-1.5353753951935625,1.3209246690204042,-1.3590176535279197,-1.5707880052686853,0.02468464699226583],"joint_velocity_rad_s":[0.0015636757818174969,-0.031166987786633724,0.24514169323924334,-0.19630913261679925,-0.00015041284241754102,0.0013418360867751059],"linkage_position_rad":[0.0029177301755064517,0.00015653813694307815,0.0031765757328169586,-0.003414813881031817,0.002917692766209555,0.0001561128971926707,0.0031793938091839806,-0.003423845353532286],"tcp_position_m":[-0.14627479702781407,0.49529418808035675,0.41562335581876875],"tcp_quaternion_wxyz":[-0.0009706143363583059,0.7071038883314326,0.707108411860328,0.0009180908142806628],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.5213678944732026e-18,4.203071929914798e-18,-9.344464543011837e-09],"object_linear_velocity_m_s":[-5.391730018573441e-18,-3.2219340435393975e-18,1.1716483380587506e-14],"object_angular_velocity_rad_s":[7.567416355380909e-17,-1.8432744760416824e-16,-5.440905619918959e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313692845947714,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5458408369868322,-1.5528161193293106,1.3590548746121363,-1.4028874124094257,-1.5708191626899015,0.024950339177265583,0.0],"actuator_force":[-0.0965569288041479,-22.414653156842633,-21.796266112233297,-2.303966179073086,-0.0005374263663497914,-0.0013375161776334465,-0.2944421500215004],"issued_joint_targets_rad":[-1.5458197664537532,-1.5424713469734543,1.374415443543003,-1.4024838804718622,-1.570820568835519,0.02497587507590933],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.2999999999999676,"joint_targets_rad":[-1.5458197664537532,-1.5424713469734543,1.374415443543003,-1.4024838804718622,-1.570820568835519,0.02497587507590933],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3199999999999654,"qpos":[-1.5460777952620812,-1.5360521508627882,1.3259996348814262,-1.363142416844521,-1.5707911413428477,0.02471244311786189,0.0029206981399731873,0.0001565376135156099,0.0031795283859358515,-0.0034176330164428508,0.002920660317163175,0.0001561103523154481,0.003182340051315153,-0.003426664296019547,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.0854877463687034e-17,3.849609594217401e-18,-9.754189775696047e-09],"qvel":[0.0015553799006977713,-0.03118507130333533,0.24529294278652844,-0.19782326109086426,-0.0001339838470202277,0.0013304255510677128,0.000241261005806698,3.389055386736724e-05,9.890645387472289e-05,-0.0003732578753437189,0.00023370486270779696,-4.1507912198176965e-06,-2.855107774204424e-05,-0.0003766338868293561,-5.832135956703307e-18,-2.6453118427600076e-17,1.1717871159368288e-14,-5.802711394976128e-16,-1.638565667053752e-16,-2.1870733319520345e-08],"joint_position_rad":[-1.5460777952620812,-1.5360521508627882,1.3259996348814262,-1.363142416844521,-1.5707911413428477,0.02471244311786189],"joint_velocity_rad_s":[0.0015553799006977713,-0.03118507130333533,0.24529294278652844,-0.19782326109086426,-0.0001339838470202277,0.0013304255510677128],"linkage_position_rad":[0.0029206981399731873,0.0001565376135156099,0.0031795283859358515,-0.0034176330164428508,0.002920660317163175,0.0001561103523154481,0.003182340051315153,-0.003426664296019547],"tcp_position_m":[-0.1462877601106936,0.4952960621730204,0.4139205156347353],"tcp_quaternion_wxyz":[-0.0008705210240270013,0.7071041178783803,0.7071084274322301,0.0008249405447129846],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.0854877463687034e-17,3.849609594217401e-18,-9.754189775696047e-09],"object_linear_velocity_m_s":[-5.832135956703307e-18,-2.6453118427600076e-17,1.1717871159368288e-14],"object_angular_velocity_rad_s":[-5.802711428625764e-16,-1.6385655629744847e-16,-2.1870733319520345e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931366590488074,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5458153052885613,-1.553489496513744,1.364151045960044,-1.4073111274439838,-1.5708190707230199,0.02497587595965413,0.0],"actuator_force":[-0.09717201323883273,-22.400662780577022,-21.814354957376054,-2.302029190645044,-0.0005663053841544752,-0.0013261342106520857,-0.2944427521993906],"issued_joint_targets_rad":[-1.5457942122851345,-1.5431319743821972,1.3794966384287703,-1.4069039847092408,-1.5708204573327764,0.025001440289963886],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.3199999999999654,"joint_targets_rad":[-1.5457942122851345,-1.5431319743821972,1.3794966384287703,-1.4069039847092408,-1.5708204573327764,0.025001440289963886],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3399999999999632,"qpos":[-1.54605039707435,-1.536727685578086,1.3310755381155892,-1.3672955371125526,-1.5707939657982894,0.024740025256294963,0.0029231303977476776,0.0001565369881621987,0.0031819494347773264,-0.0034199425789634137,0.002923092223051663,0.00015610816726374055,0.0031847565375177677,-0.0034289732608279956,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.3810826477759145e-17,1.1167383476452341e-17,-9.98111853184079e-09],"qvel":[0.0015474053175054535,-0.031114360321916765,0.24532184029348267,-0.19917161170358708,-0.00011906855689908797,0.0013202372938517283,0.00021694900899471602,3.379899229834621e-05,7.590566470238622e-05,-0.0003499179262296376,0.00020946691474851218,-3.8507216559056465e-06,-5.0110650780243184e-05,-0.00035311296730968606,-6.248475393381073e-17,-6.496363652694225e-17,1.171093226546438e-14,-3.2216544037525543e-15,4.730256733475663e-15,-8.791348524449345e-08],"joint_position_rad":[-1.54605039707435,-1.536727685578086,1.3310755381155892,-1.3672955371125526,-1.5707939657982894,0.024740025256294963],"joint_velocity_rad_s":[0.0015474053175054535,-0.031114360321916765,0.24532184029348267,-0.19917161170358708,-0.00011906855689908797,0.0013202372938517283],"linkage_position_rad":[0.0029231303977476776,0.0001565369881621987,0.0031819494347773264,-0.0034199425789634137,0.002923092223051663,0.00015610816726374055,0.0031847565375177677,-0.0034289732608279956],"tcp_position_m":[-0.14630075238330095,0.4952979054523461,0.41221770717905404],"tcp_quaternion_wxyz":[-0.0007800187775858002,0.7071042836516002,0.707108460531717,0.000740713661586476],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.3810826477759145e-17,1.1167383476452341e-17,-9.98111853184079e-09],"object_linear_velocity_m_s":[-6.248475393381073e-17,-6.496363652694225e-17,1.171093226546438e-14],"object_angular_velocity_rad_s":[-3.2216543112895748e-15,4.730256793600506e-15,-8.791348524449345e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931364379315653,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5457897445576823,-1.5541440923885097,1.3692240216294989,-1.411730435492702,-1.5708189687599976,0.025001440802771047,0.0],"actuator_force":[-0.0976570936668395,-22.387069492080627,-21.831769089573754,-2.3002880197160493,-0.0005946251642399147,-0.0013159561471312031,-0.2944432106586832],"issued_joint_targets_rad":[-1.5457686288643688,-1.5437740253561838,1.3845547281003614,-1.4113197299946372,-1.5708203378293384,0.025027032863506153],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.3399999999999632,"joint_targets_rad":[-1.5457686288643688,-1.5437740253561838,1.3845547281003614,-1.4113197299946372,-1.5708203378293384,0.025027032863506153],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.359999999999961,"qpos":[-1.546023094610284,-1.5374003146083017,1.3361500786487719,-1.3714738790154444,-1.5707965076639046,0.02476741654517987,0.0029251235474363727,0.0001565364287904314,0.0031839345325938976,-0.0034218350379102524,0.002925085083198323,0.00015610652435858806,0.003186738795148415,-0.003430864853060318,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.782533929669592e-17,2.339003268312443e-17,-1.0314459795886464e-08],"qvel":[0.0015396405254022975,-0.03096334232321749,0.24524136923826415,-0.20037062454800308,-0.00010554161999377046,0.001311151254868085,0.00019703011773472673,3.370929885910794e-05,5.72540101877291e-05,-0.0003307603748310626,0.0001896212226064793,-3.5537810824541193e-06,-6.734304300787399e-05,-0.00033378166962949455,-2.6288353999556525e-17,-3.177641356312548e-17,1.171093226546438e-14,7.313166291712246e-16,-5.412167339550874e-16,-9.513771531868028e-09],"joint_position_rad":[-1.546023094610284,-1.5374003146083017,1.3361500786487719,-1.3714738790154444,-1.5707965076639046,0.02476741654517987],"joint_velocity_rad_s":[0.0015396405254022975,-0.03096334232321749,0.24524136923826415,-0.20037062454800308,-0.00010554161999377046,0.001311151254868085],"linkage_position_rad":[0.0029251235474363727,0.0001565364287904314,0.0031839345325938976,-0.0034218350379102524,0.002925085083198323,0.00015610652435858806,0.003186738795148415,-0.003430864853060318],"tcp_position_m":[-0.14631376883721653,0.49529972501504177,0.4105149161082837],"tcp_quaternion_wxyz":[-0.0006981856430012066,0.7071043966235718,0.7071085087764656,0.0006645512359176797],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.782533929669592e-17,2.339003268312443e-17,-1.0314459795886464e-08],"object_linear_velocity_m_s":[-2.6288353999556525e-17,-3.177641356312548e-17,1.171093226546438e-14],"object_angular_velocity_rad_s":[7.313166175614533e-16,-5.412167495708071e-16,-9.513771531868028e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313625645899179,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5457641556867396,-1.5547800163948018,1.3742740419660158,-1.4161454665375286,-1.5708188578400524,0.0250270330410572,0.0],"actuator_force":[-0.0979783630723432,-22.374066643713377,-21.84862106081755,-2.2987313062417343,-0.0006209260744753919,-0.0013068775481421824,-0.2944436882334408],"issued_joint_targets_rad":[-1.5457430242824013,-1.5443975721052723,1.3895899900238475,-1.4157313027696765,-1.5708202112226595,0.025052645044711653],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.359999999999961,"joint_targets_rad":[-1.5457430242824013,-1.5443975721052723,1.3895899900238475,-1.4157313027696765,-1.5708202112226595,0.025052645044711653],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3799999999999588,"qpos":[-1.5459958845151474,-1.5380685206808336,1.3412212030879038,-1.3756746242898563,-1.5707987933548875,0.024794637195042192,0.0029267568356767027,0.00015653591959409433,0.0031855623946463684,-0.0034233856718541597,0.0029267181396720535,0.00015610536590549668,0.0031883653684214816,-0.0034324143992134275,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-4.9168761988237575e-17,2.2085802277753357e-17,-1.0673281667678e-08],"qvel":[0.0015320587970258676,-0.030740117612301558,0.24506326705026668,-0.2014354616352435,-9.327539166303407e-05,0.0013030262051393555,0.00018071292789132885,3.3620040271596855e-05,4.216890341062789e-05,-0.00031502835794199616,0.0001733761731847336,-3.2624339586817883e-06,-8.103168203961659e-05,-0.0003178793907592693,-3.128725589170497e-17,-8.28157796370863e-17,1.1744238956203135e-14,-2.125554120884464e-15,-1.994831460704094e-16,-3.824237628282589e-08],"joint_position_rad":[-1.5459958845151474,-1.5380685206808336,1.3412212030879038,-1.3756746242898563,-1.5707987933548875,0.024794637195042192],"joint_velocity_rad_s":[0.0015320587970258676,-0.030740117612301558,0.24506326705026668,-0.2014354616352435,-9.327539166303407e-05,0.0013030262051393555],"linkage_position_rad":[0.0029267568356767027,0.00015653591959409433,0.0031855623946463684,-0.0034233856718541597,0.0029267181396720535,0.00015610536590549668,0.0031883653684214816,-0.0034324143992134275],"tcp_position_m":[-0.1463268045553096,0.4953015277834838,0.4088121277607618],"tcp_quaternion_wxyz":[-0.0006241866036962974,0.7071044663306775,0.707108569639071,0.0005956754803603439],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-4.9168761988237575e-17,2.2085802277753357e-17,-1.0673281667678e-08],"object_linear_velocity_m_s":[-3.128725589170497e-17,-8.28157796370863e-17,1.1744238956203135e-14],"object_angular_velocity_rad_s":[-2.1255541268319705e-15,-1.9948310445779428e-16,-3.8242376282825896e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931361074594775,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5457385466425237,-1.555397369956733,1.3793013880158034,-1.4205563990811836,-1.5708187389501616,0.025052644919262696,0.0],"actuator_force":[-0.09814777356314153,-22.36165150687839,-21.864936964307617,-2.2973412321392743,-0.000645258470740373,-0.001298758403683209,-0.2944441942728181],"issued_joint_targets_rad":[-1.5457174065381143,-1.545002682688039,1.39460269193841,-1.4201388857968014,-1.570820078345895,0.025078269115960436],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.3799999999999588,"joint_targets_rad":[-1.5457174065381143,-1.545002682688039,1.39460269193841,-1.4201388857968014,-1.570820078345895,0.025078269115960436],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3999999999999566,"qpos":[-1.5459687638137054,-1.538730940377283,1.3462870798649964,-1.3798952421515043,-1.5708008468400656,0.02482170473917175,0.0029280952157337476,0.000156535441397232,0.003186897560085213,-0.003424656168467471,0.0029280563397359933,0.00015610462737607327,0.0031897006319383777,-0.0034336836088992946,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-4.338308021717244e-17,1.469040099426087e-17,-1.081828515621875e-08],"qvel":[0.0015246423652508308,-0.03045202127662898,0.24479808811084997,-0.2023798224034239,-8.215289499713979e-05,0.0012957345987576413,0.0001673477318303919,3.3531261617690634e-05,3.000481257304036e-05,-0.0003021046496587592,0.00016008211541335571,-2.9762746458022215e-06,-9.18205511997519e-05,-0.00030478857872872164,-1.9066426310101612e-17,-4.9910277253251186e-17,1.1790035655968925e-14,1.7290993521806058e-15,-8.277466790802212e-16,-4.138491720339666e-09],"joint_position_rad":[-1.5459687638137054,-1.538730940377283,1.3462870798649964,-1.3798952421515043,-1.5708008468400656,0.02482170473917175],"joint_velocity_rad_s":[0.0015246423652508308,-0.03045202127662898,0.24479808811084997,-0.2023798224034239,-8.215289499713979e-05,0.0012957345987576413],"linkage_position_rad":[0.0029280952157337476,0.000156535441397232,0.003186897560085213,-0.003424656168467471,0.0029280563397359933,0.00015610462737607327,0.0031897006319383777,-0.0034336836088992946],"tcp_position_m":[-0.14633985504238778,0.4953033200550632,0.4071093288209997],"tcp_quaternion_wxyz":[-0.0005572669006135489,0.7071045008355689,0.7071086407715194,0.000533383479837175],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-4.338308021717244e-17,1.469040099426087e-17,-1.081828515621875e-08],"object_linear_velocity_m_s":[-1.9066426310101612e-17,-4.9910277253251186e-17,1.1790035655968925e-14],"object_angular_velocity_rad_s":[1.729099334149414e-15,-8.277467168510818e-16,-4.1384917203396665e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313598505188637,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5457129253124184,-1.5559962474434237,1.384306330680582,-1.4249634087020198,-1.570818613004702,0.025078268716667955,0.0],"actuator_force":[-0.09817994352670212,-22.349805621629457,-21.880733613169014,-2.2961010349152957,-0.0006677928184899429,-0.001291471127661481,-0.29444472700970575],"issued_joint_targets_rad":[-1.5456917829685624,-1.5455894212300019,1.3995930883314862,-1.4245426542550685,-1.5708199399665448,0.025103897972226688],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.3999999999999566,"joint_targets_rad":[-1.5456917829685624,-1.5455894212300019,1.3995930883314862,-1.4245426542550685,-1.5708199399665448,0.025103897972226688],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4199999999999544,"qpos":[-1.5459417298199507,-1.5393863490736166,1.3513460767486902,-1.3841334611246283,-1.5708026898633114,0.024848634346210072,0.0029291919196133003,0.00015653497897211862,0.0031879929154656752,-0.0034256970843431897,0.002929152909924851,0.00015610425242588063,0.003190797324050958,-0.0034347230589081464,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-5.616821457553943e-17,1.5554985118568176e-17,-1.1274351204873747e-08],"qvel":[0.0015173754393227612,-0.030105660760301325,0.24445531657423003,-0.20321605947106358,-7.206795806092943e-05,0.0012891639271421557,0.00015640192259376478,3.344302759622595e-05,2.0232257439583437e-05,-0.0002914831874237497,0.00014920651291844725,-2.694829750304278e-06,-0.0001002375589366392,-0.0002940029271323221,-2.0139609635860187e-17,-7.055170233535838e-17,1.1790035655968926e-14,1.561889691346289e-15,-4.2871531657542405e-16,-1.6635438120669548e-08],"joint_position_rad":[-1.5459417298199507,-1.5393863490736166,1.3513460767486902,-1.3841334611246283,-1.5708026898633114,0.024848634346210072],"joint_velocity_rad_s":[0.0015173754393227612,-0.030105660760301325,0.24445531657423003,-0.20321605947106358,-7.206795806092943e-05,0.0012891639271421557],"linkage_position_rad":[0.0029291919196133003,0.00015653497897211862,0.0031879929154656752,-0.0034256970843431897,0.002929152909924851,0.00015610425242588063,0.003190797324050958,-0.0034347230589081464],"tcp_position_m":[-0.14635291621414412,0.49530510752880064,0.40540650733487293],"tcp_quaternion_wxyz":[-0.0004967444552891134,0.7071045069273837,0.7071087200428666,0.00047704010981601075],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-5.616821457553943e-17,1.5554985118568176e-17,-1.1274351204873747e-08],"object_linear_velocity_m_s":[-2.0139609635860187e-17,-7.055170233535838e-17,1.1790035655968926e-14],"object_angular_velocity_rad_s":[1.5618896811617867e-15,-4.287153536627756e-16,-1.663543812066955e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313588441850942,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5456872989321844,-1.5565767366736383,1.3892891272356889,-1.4293666640793459,-1.5708184808448393,0.025103897325442513,0.0],"actuator_force":[-0.09808840019650233,-22.33851089592281,-21.896025655694302,-2.294995530252322,-0.0006886949579438806,-0.0012849030979946718,-0.29444528365446865],"issued_joint_targets_rad":[-1.5456661602668251,-1.546157848097166,1.4045614210925408,-1.4289427760471287,-1.5708197967880513,0.025129525111749797],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.4199999999999544,"joint_targets_rad":[-1.5456661602668251,-1.546157848097166,1.4045614210925408,-1.4289427760471287,-1.5708197967880513,0.025129525111749797],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4399999999999522,"qpos":[-1.5459147801103175,-1.5400336471082525,1.3563967405959496,-1.3883872435049487,-1.5708043421502262,0.02487543910468538,0.002930090572466656,0.0001565345207703065,0.003188891795107501,-0.0034265498532729684,0.0029300514704729912,0.0001561041925185516,0.0031916986460141373,-0.0034355742013944825,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-4.769141891127853e-17,1.616340645626711e-17,-1.1543129715229994e-08],"qvel":[0.0015102434646369945,-0.029706983986858445,0.24404347299578766,-0.20395530850853177,-6.2924290032609e-05,0.0012832152357518153,0.00014743897800342614,3.335538577243732e-05,1.2417320997093733e-05,-0.0002827492108299368,0.00014031290828387145,-2.417674378135447e-06,-0.00010671518112189631,-0.0002851074398469794,-4.278789192401924e-17,-9.911150317010589e-17,1.1795586771092052e-14,-1.6080818666375062e-15,1.5353397131061344e-15,-6.686924130028877e-08],"joint_position_rad":[-1.5459147801103175,-1.5400336471082525,1.3563967405959496,-1.3883872435049487,-1.5708043421502262,0.02487543910468538],"joint_velocity_rad_s":[0.0015102434646369945,-0.029706983986858445,0.24404347299578766,-0.20395530850853177,-6.2924290032609e-05,0.0012832152357518153],"linkage_position_rad":[0.002930090572466656,0.0001565345207703065,0.003188891795107501,-0.0034265498532729684,0.0029300514704729912,0.0001561041925185516,0.0031916986460141373,-0.0034355742013944825],"tcp_position_m":[-0.14636598435910952,0.4953068953683633,0.40370365258912244],"tcp_quaternion_wxyz":[-0.00044200288356766347,0.7071044903123037,0.7071088055431755,0.00042607150969844245],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-4.769141891127853e-17,1.616340645626711e-17,-1.1543129715229994e-08],"object_linear_velocity_m_s":[-4.278789192401924e-17,-9.911150317010589e-17,1.1795586771092052e-14],"object_angular_velocity_rad_s":[-1.6080818333539247e-15,1.5353397438525512e-15,-6.686924130028879e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313580161337491,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5456616741029803,-1.5571389193474965,1.3942500220231124,-1.4337663272366858,-1.5708183432408307,0.025129524241288417,0.0],"actuator_force":[-0.09788537118038221,-22.327750883744557,-21.910826343989356,-2.2940110150153714,-0.0007081162990516532,-0.0012789552736638399,-0.29444586157841884],"issued_joint_targets_rad":[-1.545640544545834,-1.5467080200627186,1.4095079204538101,-1.433339412415006,-1.570819649452417,0.025155144579342422],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.4399999999999522,"joint_targets_rad":[-1.545640544545834,-1.5467080200627186,1.4095079204538101,-1.433339412415006,-1.570819649452417,0.025155144579342422],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.45999999999995,"qpos":[-1.545887912504401,-1.5406718472876617,1.3614377791304062,-1.3926547623203063,-1.5708058215958134,0.024902130275065198,0.0029308269261588264,0.00015653405825375978,0.003189629705501122,-0.0034272484326042726,0.0029307877688297536,0.00015610440587570672,0.0031924399848959582,-0.0034362710103751264,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-4.209622779089199e-17,1.4303767726405538e-17,-1.179667759083545e-08],"qvel":[0.0015032329563077545,-0.029261343923638834,0.24357021078357058,-0.2046076076140951,-5.463455485612191e-05,0.0012778015646766135,0.00014010113383472217,3.326836072083134e-05,6.204432238122323e-06,-0.00027556276803612426,0.00013304359650743948,-2.144439313521272e-06,-0.00011160767530425216,-0.0002777619524475801,-1.9308186282880875e-17,-5.0478791813460614e-17,1.179419899231127e-14,1.6938606142415966e-15,-7.224558311272113e-16,-7.2364175128654885e-09],"joint_position_rad":[-1.545887912504401,-1.5406718472876617,1.3614377791304062,-1.3926547623203063,-1.5708058215958134,0.024902130275065198],"joint_velocity_rad_s":[0.0015032329563077545,-0.029261343923638834,0.24357021078357058,-0.2046076076140951,-5.463455485612191e-05,0.0012778015646766135],"linkage_position_rad":[0.0029308269261588264,0.00015653405825375978,0.003189629705501122,-0.0034272484326042726,0.0029307877688297536,0.00015610440587570672,0.0031924399848959582,-0.0034362710103751264],"tcp_position_m":[-0.14637905610168228,0.49530868826279073,0.4020007549903346],"tcp_quaternion_wxyz":[-0.00039248516952199446,0.7071044557770133,0.7071088955788286,0.00037995917410077717],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-4.209622779089199e-17,1.4303767726405538e-17,-1.179667759083545e-08],"object_linear_velocity_m_s":[-1.9308186282880875e-17,-5.0478791813460614e-17,1.179419899231127e-14],"object_angular_velocity_rad_s":[1.6938605969894234e-15,-7.224558717003181e-16,-7.23641751286549e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313573340474186,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5456360568545016,-1.5576828714460258,1.3991892474277825,-1.4381625540995364,-1.5708182008952802,0.025155143506723134,0.0],"actuator_force":[-0.09758188272417101,-22.317510747272536,-21.925147718675817,-2.2931351282056767,-0.0007261942478180572,-0.0012735406386923387,-0.29444645840113975],"issued_joint_targets_rad":[-1.5456149414001743,-1.5472399904680465,1.4144328058747322,-1.437732718521029,-1.5708194985433954,0.025180750910481903],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.45999999999995,"joint_targets_rad":[-1.5456149414001743,-1.5472399904680465,1.4144328058747322,-1.437732718521029,-1.5708194985433954,0.025180750910481903],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4799999999999478,"qpos":[-1.5458611250479504,-1.5413000636196552,1.3664680445459951,-1.3969343805541021,-1.5708071444345004,0.024928717512285505,0.002931430280070051,0.00015653358526488838,0.0031902357386572205,-0.0034278206523002917,0.0029313911004109324,0.00015610485647582744,0.0031930503255431786,-0.003436841330935342,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-3.524248419860599e-17,5.256725231233638e-18,-1.2214443456905546e-08],"qvel":[0.0014963313944708829,-0.028773557124996643,0.2430424030635636,-0.2051820051394353,-4.711952776085071e-05,0.001272846542225173,0.00013409517457172818,3.3181958578713625e-05,1.302228702320744e-06,-0.00026964521917764126,0.00012710541617000915,-1.874804024873457e-06,-0.00011520520776107467,-0.0002716876293726075,-7.550163654820057e-18,-4.5576481431244273e-17,1.179419899231127e-14,9.867448169890472e-16,-6.400749603526622e-16,-2.9088127725126122e-08],"joint_position_rad":[-1.5458611250479504,-1.5413000636196552,1.3664680445459951,-1.3969343805541021,-1.5708071444345004,0.024928717512285505],"joint_velocity_rad_s":[0.0014963313944708829,-0.028773557124996643,0.2430424030635636,-0.2051820051394353,-4.711952776085071e-05,0.001272846542225173],"linkage_position_rad":[0.002931430280070051,0.00015653358526488838,0.0031902357386572205,-0.0034278206523002917,0.0029313911004109324,0.00015610485647582744,0.0031930503255431786,-0.003436841330935342],"tcp_position_m":[-0.1463921283684186,0.49531049048201864,0.40029780595443865],"tcp_quaternion_wxyz":[-0.00034768794738399814,0.7071044073276064,0.7071089886632133,0.0003382346129220679],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-3.524248419860599e-17,5.256725231233638e-18,-1.2214443456905546e-08],"object_linear_velocity_m_s":[-7.550163654820057e-18,-4.5576481431244273e-17,1.179419899231127e-14],"object_angular_velocity_rad_s":[9.867448010469116e-16,-6.400749865080154e-16,-2.908812772512613e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931356771459963,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5456104527061152,-1.5582086636022223,1.4041070247941112,-1.4425554950234778,-1.5708180544469088,0.025180749655148136,0.0],"actuator_force":[-0.09718787411839003,-22.307777115135195,-21.939000729193594,-2.292356720744351,-0.0007430534279819767,-0.0012685827912015668,-0.2944470719777579],"issued_joint_targets_rad":[-1.5455893559622444,-1.5477538093765315,1.4193362868459158,-1.4421228439699365,-1.5708193445900118,0.025206339079998155],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.4799999999999478,"joint_targets_rad":[-1.5455893559622444,-1.5477538093765315,1.4193362868459158,-1.4421228439699365,-1.5708193445900118,0.025206339079998155],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4999999999999456,"qpos":[-1.5458344159975033,-1.5419175011562998,1.3714865187536287,-1.4012246324097402,-1.5708083253941882,0.024955209062008845,0.00293192464551869,0.00015653309751353754,0.0031907337303555836,-0.0034282893205656645,0.0029318854729757046,0.00015610551320124826,0.0031935534075790742,-0.003437307984973707,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.0956665756461885e-17,2.081109217183272e-18,-1.2324736812215596e-08],"qvel":[0.0014895271339082927,-0.02824795658009182,0.24246622087031125,-0.20568665691800053,-4.0307333422212256e-05,0.0012682831344194311,0.00012918078720971276,3.309617158873533e-05,-2.5280325646124562e-06,-0.00026476817582163126,0.00012225810370799554,-1.608489323819672e-06,-0.00011774543071686755,-0.0002666559036825675,-3.417655452158502e-18,-2.7652976315230348e-17,1.1798362328653615e-14,1.3075900683251702e-15,-1.5847775169218844e-16,-3.147842457809865e-09],"joint_position_rad":[-1.5458344159975033,-1.5419175011562998,1.3714865187536287,-1.4012246324097402,-1.5708083253941882,0.024955209062008845],"joint_velocity_rad_s":[0.0014895271339082927,-0.02824795658009182,0.24246622087031125,-0.20568665691800053,-4.0307333422212256e-05,0.0012682831344194311],"linkage_position_rad":[0.00293192464551869,0.00015653309751353754,0.0031907337303555836,-0.0034282893205656645,0.0029318854729757046,0.00015610551320124826,0.0031935534075790742,-0.003437307984973707],"tcp_position_m":[-0.1464051983574782,0.4953123059274105,0.39859479780672774],"tcp_quaternion_wxyz":[-0.00030715633399918323,0.7071043483075973,0.7071090835044712,0.0003004745263243763],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.0956665756461885e-17,2.081109217183272e-18,-1.2324736812215596e-08],"object_linear_velocity_m_s":[-3.417655452158502e-18,-2.7652976315230348e-17,1.1798362328653615e-14],"object_angular_velocity_rad_s":[1.3075900644056748e-15,-1.5847778405553189e-16,-3.147842457809866e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313563066986023,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5455848667223775,-1.5587163614443176,1.4090035652589294,-1.4469452952682351,-1.570817904474598,0.025206337659516055,0.0],"actuator_force":[-0.09671230331150582,-22.29853794399878,-21.95239533752283,-2.2916657374473743,-0.0007588068626773747,-0.001264014688336701,-0.2944477003793083],"issued_joint_targets_rad":[-1.545563792953059,-1.5482495237188783,1.4242185636167355,-1.4465099332760494,-1.570819188070252,0.025231904455278422],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.4999999999999456,"joint_targets_rad":[-1.545563792953059,-1.5482495237188783,1.4242185636167355,-1.4465099332760494,-1.570819188070252,0.025231904455278422],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5199999999999434,"qpos":[-1.5458077838064612,-1.5425234468380602,1.3764923001066471,-1.4055242064152615,-1.5708093778358758,0.024981611933562863,0.0029323297000633923,0.00015653259216395245,0.0031911432093187117,-0.003428673129966504,0.0029322905608875284,0.00015610634911980903,0.003193968673453035,-0.003437689677451671,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.933296483810653e-18,3.149047105629776e-19,-1.2768081492202268e-08],"qvel":[0.0014828093224547088,-0.027688439389750345,0.241847203519798,-0.2061289139255678,-3.4132757897521256e-05,0.001264052535092491,0.0001251610163652636,3.301098179189036e-05,-5.481971886332506e-06,-0.0002607444365151363,0.00011830474897904779,-1.3452509788788146e-06,-0.00011942296938926639,-0.0002624794114485337,-8.738641426561996e-20,-6.5236311278015194e-18,1.1681788911067973e-14,8.809744726615127e-16,1.7652471073595062e-16,-1.2653338935813248e-08],"joint_position_rad":[-1.5458077838064612,-1.5425234468380602,1.3764923001066471,-1.4055242064152615,-1.5708093778358758,0.024981611933562863],"joint_velocity_rad_s":[0.0014828093224547088,-0.027688439389750345,0.241847203519798,-0.2061289139255678,-3.4132757897521256e-05,0.001264052535092491],"linkage_position_rad":[0.0029323297000633923,0.00015653259216395245,0.0031911432093187117,-0.003428673129966504,0.0029322905608875284,0.00015610634911980903,0.003193968673453035,-0.003437689677451671],"tcp_position_m":[-0.1464182635109372,0.4953141381777541,0.3968917236915077],"tcp_quaternion_wxyz":[-0.00027047925890770366,0.7071042814982595,0.7071091789914785,0.00026629644508430206],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.933296483810653e-18,3.149047105629776e-19,-1.2768081492202268e-08],"object_linear_velocity_m_s":[-8.738641426561996e-20,-6.5236311278015194e-18,1.1681788911067973e-14],"object_angular_velocity_rad_s":[8.809744771613073e-16,1.7652468819031759e-16,-1.2653338935813251e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313559220171229,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.54555930356322,-1.5592060259120208,1.4138790705051865,-1.4513320954211835,-1.570817751501555,0.025231902885516636,0.0],"actuator_force":[-0.09616324249964237,-22.289782392021152,-21.965340610840485,-2.2910531104042775,-0.0007735570497970912,-0.00125977753236306,-0.29444834187426755],"issued_joint_targets_rad":[-1.5455382567282496,-1.5487271774292182,1.4290798278528571,-1.450894126281271,-1.5708190294147892,0.02525744275355446],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.5199999999999434,"joint_targets_rad":[-1.5455382567282496,-1.5487271774292182,1.4290798278528571,-1.450894126281271,-1.5708190294147892,0.02525744275355446],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5399999999999412,"qpos":[-1.5457812271124705,-1.5431172612410449,1.381484591457092,-1.409831930187115,-1.570810313880245,0.025007932052188066,0.0029326615695997892,0.00015653206750411593,0.0031914801750376866,-0.0034289874000603764,0.0029326224871737963,0.0001561073408794703,0.0031943120452612894,-0.003438001739126845,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,2.2554107760633654e-18,-1.0612906316450827e-17,-1.3117777503113272e-08],"qvel":[0.0014761678266122175,-0.027098509768697883,0.2411903219410907,-0.20651540131594326,-2.853662671259815e-05,0.0012601031811184822,0.00012187444152085833,3.292636384777138e-05,-7.71987094378761e-06,-0.000257420557633233,0.00011508397291375878,-1.0848744684490817e-06,-0.00012039719625452186,-0.000259004559753926,2.48768972047455e-17,-9.522803132811339e-19,1.1595746626659527e-14,1.7503094578793622e-16,-1.927627902121674e-15,-5.08624520986826e-08],"joint_position_rad":[-1.5457812271124705,-1.5431172612410449,1.381484591457092,-1.409831930187115,-1.570810313880245,0.025007932052188066],"joint_velocity_rad_s":[0.0014761678266122175,-0.027098509768697883,0.2411903219410907,-0.20651540131594326,-2.853662671259815e-05,0.0012601031811184822],"linkage_position_rad":[0.0029326615695997892,0.00015653206750411593,0.0031914801750376866,-0.0034289874000603764,0.0029326224871737963,0.0001561073408794703,0.0031943120452612894,-0.003438001739126845],"tcp_position_m":[-0.14643132148969254,0.4953159905311827,0.39518857749049197],"tcp_quaternion_wxyz":[-0.00023728524417144777,0.7071042092039878,0.707109274178919,0.00023535479147275125],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,2.2554107760633654e-18,-1.0612906316450827e-17,-1.3117777503113272e-08],"object_linear_velocity_m_s":[2.48768972047455e-17,-9.522803132811339e-19,1.1595746626659527e-14],"object_angular_velocity_rad_s":[1.750308962951452e-16,-1.927627906484276e-15,-5.0862452098682615e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931355602885671,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5455337675293688,-1.5596777135468023,1.4187337334429733,-1.455716031775694,-1.5708175959994681,0.02525744104884684,0.0],"actuator_force":[-0.09554796444126623,-22.281500704035807,-21.977844804673623,-2.290510662695283,-0.0007873969403817682,-0.0012558197824628081,-0.2944489949108524],"issued_joint_targets_rad":[-1.5455127513197997,-1.5491868115715661,1.4339202632297705,-1.4552755585292194,-1.5708188690106606,0.025282950002888976],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.5399999999999412,"joint_targets_rad":[-1.5455127513197997,-1.5491868115715661,1.4339202632297705,-1.4552755585292194,-1.5708188690106606,0.025282950002888976],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.559999999999939,"qpos":[-1.5457547447259974,-1.5436983711387078,1.3864626894095795,-1.4141467566898485,-1.5708111445224513,0.025034174392934413,0.002932933469324783,0.00015653152268125156,0.0031917577351794554,-0.0034292446860248603,0.002932894464456827,0.00015610846819631304,0.0031945965612486136,-0.003438256735288551,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,2.612941013331262e-18,-1.295375605543569e-17,-1.3310632490353116e-08],"qvel":[0.0014695931633297232,-0.02648131782471889,0.24050003566719053,-0.20685208968250351,-2.3465242397477212e-05,0.0012563898790209217,0.00011918876574035968,3.2842287387620186e-05,-9.37305119447642e-06,-0.00025467076384293397,0.00011246351659987082,-8.271705019638403e-07,-0.00012079860118364053,-0.00025610543825768846,1.456327196569893e-17,1.3922019333512745e-18,1.1566603272263117e-14,-1.0125287749663675e-17,6.183828137139351e-16,-5.5042039053701604e-09],"joint_position_rad":[-1.5457547447259974,-1.5436983711387078,1.3864626894095795,-1.4141467566898485,-1.5708111445224513,0.025034174392934413],"joint_velocity_rad_s":[0.0014695931633297232,-0.02648131782471889,0.24050003566719053,-0.20685208968250351,-2.3465242397477212e-05,0.0012563898790209217],"linkage_position_rad":[0.002932933469324783,0.00015653152268125156,0.0031917577351794554,-0.0034292446860248603,0.002932894464456827,0.00015610846819631304,0.0031945965612486136,-0.003438256735288551],"tcp_position_m":[-0.14644437015070408,0.495317866043425,0.39348535374910065],"tcp_quaternion_wxyz":[-0.00020723859064740877,0.7071041333249628,0.7071093682720904,0.00020733732011234157],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,2.612941013331262e-18,-1.295375605543569e-17,-1.3310632490353116e-08],"object_linear_velocity_m_s":[1.456327196569893e-17,1.3922019333512745e-18,1.1566603272263117e-14],"object_angular_velocity_rad_s":[-1.01252711449307e-17,6.183828140122473e-16,-5.504203905370161e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931355337408863,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5455082626035324,-1.5601314767574361,1.423567738824189,-1.4600972366692744,-1.570817438392575,0.025282948176181815,0.0],"actuator_force":[-0.09487302040179202,-22.273684107569352,-21.989915437657146,-2.2900310214627098,-0.0008004108220802664,-0.0012520962783924006,-0.29444965810078166],"issued_joint_targets_rad":[-1.5454872804739828,-1.5496284644565113,1.4387400459680597,-1.4596543616003017,-1.5708187072048312,0.02530842250648591],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.559999999999939,"joint_targets_rad":[-1.5454872804739828,-1.5496284644565113,1.4387400459680597,-1.4596543616003017,-1.5708187072048312,0.02530842250648591],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5799999999999368,"qpos":[-1.545728335620006,-1.544266262797938,1.3914259746528,-1.4184677518446271,-1.5708118797362438,0.025060343098286357,0.0029331562290358473,0.00015653095749108224,0.0031919866279186957,-0.003429455277466637,0.002933117320223327,0.00015610971342215719,0.0031948328973306866,-0.003438464964660995,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,4.375088501097301e-18,1.0139864025649743e-17,-1.37251243752358e-08],"qvel":[0.0014630764371110665,-0.02583969452417564,0.23978034411701807,-0.2071443593125906,-1.8869875443519525e-05,0.001252873030559738,0.00011699556112397468,3.275871861102247e-05,-1.0549101777007827e-05,-0.00025239195841056226,0.00011033498709004404,-5.719712380736109e-07,-0.00012073401107320514,-0.0002536788252046353,-1.438424601621922e-17,3.4613716809657617e-18,1.1702605592779696e-14,-3.2236703339075607e-18,1.0889084897581976e-15,-2.2125172565003315e-08],"joint_position_rad":[-1.545728335620006,-1.544266262797938,1.3914259746528,-1.4184677518446271,-1.5708118797362438,0.025060343098286357],"joint_velocity_rad_s":[0.0014630764371110665,-0.02583969452417564,0.23978034411701807,-0.2071443593125906,-1.8869875443519525e-05,0.001252873030559738],"linkage_position_rad":[0.0029331562290358473,0.00015653095749108224,0.0031919866279186957,-0.003429455277466637,0.002933117320223327,0.00015610971342215719,0.0031948328973306866,-0.003438464964660995],"tcp_position_m":[-0.1464574075263408,0.49531976756279383,0.39178204760994095],"tcp_quaternion_wxyz":[-0.00018003593158608965,0.7071040554190551,0.7071094606119019,0.0001819619021893279],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.375088501097301e-18,1.0139864025649743e-17,-1.37251243752358e-08],"object_linear_velocity_m_s":[-1.438424601621922e-17,3.4613716809657617e-18,1.1702605592779696e-14],"object_angular_velocity_rad_s":[-3.2236408917911295e-18,1.088908490040287e-15,-2.212517256500332e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313551158490635,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5454827924878287,-1.560567364062166,1.4283812637968023,-1.4644758387859957,-1.5708172790615793,0.025308420569471173,0.0],"actuator_force":[-0.09414431048980987,-22.266324718785654,-22.001559358802297,-2.289607539425333,-0.0008126751233703544,-0.0012485674635644983,-0.29445033020402883],"issued_joint_targets_rad":[-1.5454618476859423,-1.5500521717481697,1.4435393453156236,-1.4640306634119358,-1.5708185443075995,0.025333856809954456],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.5799999999999368,"joint_targets_rad":[-1.5454618476859423,-1.5500521717481697,1.4435393453156236,-1.4640306634119358,-1.5708185443075995,0.025333856809954456],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5999999999999346,"qpos":[-1.5457019989206537,-1.5448204759372388,1.3963739032606555,-1.4227940833539667,-1.5708125285684236,0.025086441581360763,0.002933338723636427,0.0001565303722109288,0.003192175649964417,-0.0034296276072234132,0.0029332999273029444,0.00015611106117698176,0.0031950297943898576,-0.0034386348682968982,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,2.2720243229286692e-18,9.227447348902832e-18,-1.395469317004083e-08],"qvel":[0.0014566092816892175,-0.0251761832142634,0.23903483273759796,-0.2073970581254655,-1.4706303363450254e-05,0.0012495179461103952,0.00011520596229828422,3.267562172147201e-05,-1.1336163415705428e-05,-0.0002504996314095674,0.00010860955118100984,-3.1912726012741306e-07,-0.00012029086766945288,-0.0002516400983695102,3.4849962889005896e-18,5.1162788512133835e-18,1.1783096762065026e-14,-3.9507996263235006e-16,-1.5204332418801511e-15,-8.89362511722292e-08],"joint_position_rad":[-1.5457019989206537,-1.5448204759372388,1.3963739032606555,-1.4227940833539667,-1.5708125285684236,0.025086441581360763],"joint_velocity_rad_s":[0.0014566092816892175,-0.0251761832142634,0.23903483273759796,-0.2073970581254655,-1.4706303363450254e-05,0.0012495179461103952],"linkage_position_rad":[0.002933338723636427,0.0001565303722109288,0.003192175649964417,-0.0034296276072234132,0.0029332999273029444,0.00015611106117698176,0.0031950297943898576,-0.0034386348682968982],"tcp_position_m":[-0.14647043180562686,0.4953216977622575,0.39007865475276127],"tcp_quaternion_wxyz":[-0.00015540311817742352,0.7071039767545599,0.7071095506603946,0.00015897361989557592],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,2.2720243229286692e-18,9.227447348902832e-18,-1.395469317004083e-08],"object_linear_velocity_m_s":[3.4849962889005896e-18,5.1162788512133835e-18,1.1783096762065026e-14],"object_angular_velocity_rad_s":[-3.950800067080178e-16,-1.5204332304495808e-15,-8.893625117222921e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313549302358105,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5454573606378936,-1.5609854203088562,1.433174478404121,-1.4688519634271175,-1.570817118347377,0.025333854773190282,0.0],"actuator_force":[-0.09336714715527705,-22.259415457529485,-22.012782808108113,-2.2892342240289736,-0.0008242591402449762,-0.0012451986962798145,-0.29445101011436503],"issued_joint_targets_rad":[-1.54543645623129,-1.5504579665615812,1.4483183239817106,-1.4684045884877648,-1.570818380595823,0.02535924967124898],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.5999999999999346,"joint_targets_rad":[-1.54543645623129,-1.5504579665615812,1.4483183239817106,-1.4684045884877648,-1.570818380595823,0.02535924967124898],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6199999999999324,"qpos":[-1.5456757338989395,-1.5453605982817424,1.4013059988658045,-1.4271250106231645,-1.5708130992245481,0.02511247261631856,0.0029334882259528434,0.00015652976746724002,0.0031923320073031294,-0.0034297685864077727,0.002933449556661131,0.0001561124980375837,0.003195194408368228,-0.0034387733647043756,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,8.532300300700779e-19,1.3713032426768023e-18,-1.4291912452188349e-08],"qvel":[0.0014501838056767118,-0.024493068037266863,0.2382667145196233,-0.20761455391669129,-1.0934393165975473e-05,0.0012462942361444714,0.00011374713700385674,3.259295994068386e-05,-1.1806439440823592e-05,-0.00024892450883368355,0.00010721440629426995,-6.850482347534168e-08,-0.00011954073163949868,-0.00024991987971584377,-2.195037310351167e-18,1.0378373091540979e-18,1.1654033335452356e-14,7.178309742554089e-17,-9.5546450031617e-17,-9.624452633180852e-09],"joint_position_rad":[-1.5456757338989395,-1.5453605982817424,1.4013059988658045,-1.4271250106231645,-1.5708130992245481,0.02511247261631856],"joint_velocity_rad_s":[0.0014501838056767118,-0.024493068037266863,0.2382667145196233,-0.20761455391669129,-1.0934393165975473e-05,0.0012462942361444714],"linkage_position_rad":[0.0029334882259528434,0.00015652976746724002,0.0031923320073031294,-0.0034297685864077727,0.002933449556661131,0.0001561124980375837,0.003195194408368228,-0.0034387733647043756],"tcp_position_m":[-0.14648344131718968,0.49532365916894155,0.38837517134028066],"tcp_quaternion_wxyz":[-0.00013309240509011645,0.7071038983551551,0.7071096379869973,0.00013814214119483914],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,8.532300300700779e-19,1.3713032426768023e-18,-1.4291912452188349e-08],"object_linear_velocity_m_s":[-2.195037310351167e-18,1.0378373091540979e-18,1.1654033335452356e-14],"object_angular_velocity_rad_s":[7.178309466806179e-17,-9.554645206702872e-17,-9.624452633180854e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313547740458492,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5454319702940407,-1.5613856868745175,1.4379475460341244,-1.4732257327534797,-1.5708169565545733,0.025359247544268694,0.0],"actuator_force":[-0.09254631247267753,-22.252949970643385,-22.02359147120933,-2.2889056734884434,-0.0008352256960506566,-0.001241959639379786,-0.29445169684718936],"issued_joint_targets_rad":[-1.5454111091950804,-1.5508458795507845,1.4530771385271124,-1.4727762581991888,-1.5708182163159383,0.025384598032952538],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.6199999999999324,"joint_targets_rad":[-1.5454111091950804,-1.5508458795507845,1.4530771385271124,-1.4727762581991888,-1.5708182163159383,0.025384598032952538],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6399999999999302,"qpos":[-1.545649539963251,-1.5458862606561554,1.4062218456181068,-1.4314598756706713,-1.5708135991467007,0.025138438417441972,0.002933610695881808,0.00015652914413222046,0.00319246160261056,-0.0034298838789888556,0.0029335721665249745,0.00015611401227164816,0.0031953325970887386,-0.0034388861245005717,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-5.851835846592696e-18,-1.7467172381310875e-19,-1.4654908777803234e-08],"qvel":[0.0014437925416632513,-0.023792399539726363,0.23747886734808019,-0.20780078146976766,-7.517722933465395e-06,0.0012431752717991446,0.0001125593933454575,3.2510696218649774e-05,-1.201907317828505e-05,-0.0002476098032943516,0.00010608988796828634,1.8001632095576195e-07,-0.00011854215432804618,-0.00024846128806674543,3.697479067591426e-18,-1.6128921554722463e-17,1.1622114423494379e-14,-7.470862750988348e-16,2.1423198115245103e-16,-3.86872795800836e-08],"joint_position_rad":[-1.545649539963251,-1.5458862606561554,1.4062218456181068,-1.4314598756706713,-1.5708135991467007,0.025138438417441972],"joint_velocity_rad_s":[0.0014437925416632513,-0.023792399539726363,0.23747886734808019,-0.20780078146976766,-7.517722933465395e-06,0.0012431752717991446],"linkage_position_rad":[0.002933610695881808,0.00015652914413222046,0.00319246160261056,-0.0034298838789888556,0.0029335721665249745,0.00015611401227164816,0.0031953325970887386,-0.0034388861245005717],"tcp_position_m":[-0.1464964345137407,0.4953256541913653,0.3866715939693152],"tcp_quaternion_wxyz":[-0.00011287990710930491,0.7071038210382223,0.7071097222556619,0.00011925934786304371],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-5.851835846592696e-18,-1.7467172381310875e-19,-1.4654908777803234e-08],"object_linear_velocity_m_s":[3.697479067591426e-18,-1.6128921554722463e-17,1.1622114423494379e-14],"object_angular_velocity_rad_s":[-7.470862688062191e-16,2.142320025966302e-16,-3.8687279580083606e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313546419410082,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.545406624509835,-1.5617682018455286,1.4427006238233722,-1.4775972660027386,-1.570816793954767,0.025384595824363233,0.0],"actuator_force":[-0.0916861098330628,-22.24692256285607,-22.03399052870145,-2.288617019056801,-0.0008456317398213287,-0.0012388237192837437,-0.29445238952690783],"issued_joint_targets_rad":[-1.545385809498481,-1.5512159389878557,1.4578159397145274,-1.47714579098225,-1.5708180516867791,0.025409898996653284],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.6399999999999302,"joint_targets_rad":[-1.545385809498481,-1.5512159389878557,1.4578159397145274,-1.47714579098225,-1.5708180516867791,0.025409898996653284],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.659999999999928,"qpos":[-1.5456234166527536,-1.546397132562485,1.411121081849187,-1.435798094930273,-1.5708140350840716,0.02516434070816559,0.0029337110173573177,0.0001565285032423515,0.003192569270761048,-0.00342997812683324,0.002933672639330716,0.0001561155936115817,0.003195449155239758,-0.003438977795521761,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-7.933337514110606e-18,1.0257541052187096e-18,-1.4801599204668338e-08],"qvel":[0.0014374283982175782,-0.023076017750344867,0.2366738676040403,-0.2079592850407375,-4.4232387824393565e-06,0.0012401377067626756,0.0001115938090741968,3.242879385236619e-05,-1.2022505447089769e-05,-0.00024650896311076073,0.000105187099378093,4.2654487380062174e-07,-0.00011734303064174785,-0.00024721768518515654,-1.8398836642401602e-19,-7.631334266106658e-18,1.1747014513764706e-14,-1.5379147010110052e-16,-3.4264053921023503e-18,-4.186638012255208e-09],"joint_position_rad":[-1.5456234166527536,-1.546397132562485,1.411121081849187,-1.435798094930273,-1.5708140350840716,0.02516434070816559],"joint_velocity_rad_s":[0.0014374283982175782,-0.023076017750344867,0.2366738676040403,-0.2079592850407375,-4.4232387824393565e-06,0.0012401377067626756],"linkage_position_rad":[0.0029337110173573177,0.0001565285032423515,0.003192569270761048,-0.00342997812683324,0.002933672639330716,0.0001561155936115817,0.003195449155239758,-0.003438977795521761],"tcp_position_m":[-0.14650940995792933,0.49532768514470615,0.3849679196267032],"tcp_quaternion_wxyz":[-9.456330076503081e-05,0.7071037454475162,0.707109803212959,0.00010213719238053362],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-7.933337514110606e-18,1.0257541052187096e-18,-1.4801599204668338e-08],"object_linear_velocity_m_s":[-1.8398836642401602e-19,-7.631334266106658e-18,1.1747014513764706e-14],"object_angular_velocity_rad_s":[-1.5379147021112197e-16,-3.4264009058109713e-18,-4.186638012255209e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313545295534846,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5453813261783942,-1.5621330001798204,1.4474338630196544,-1.4819666796842523,-1.5708166307896072,0.025409896714224976,0.0],"actuator_force":[-0.09079041056838832,-22.241328134532523,-22.04398470068145,-2.288363872915852,-0.0008555288895877311,-0.00123576764657507,-0.29445308737666315],"issued_joint_targets_rad":[-1.5453605599234252,-1.5515681708332036,1.462534872822656,-1.4815133025325202,-1.5708178869021834,0.025435149799158733],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.659999999999928,"joint_targets_rad":[-1.5453605599234252,-1.5515681708332036,1.462534872822656,-1.4815133025325202,-1.5708178869021834,0.025435149799158733],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6799999999999258,"qpos":[-1.5455973636315916,-1.546892918194578,1.4160033943722086,-1.440139151857517,-1.570814413157018,0.02519018078120158,0.0029337931925533817,0.00015652784593591512,0.003192658971807917,-0.0034300551341418534,0.0029337549759089867,0.00015611723306081104,0.0031955480068815946,-0.003439052187326317,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.1028391700509724e-17,-1.383451819500522e-17,-1.5262971024264837e-08],"qvel":[0.0014310846144376078,-0.02234557297387883,0.23585402039191636,-0.20809325667126755,-1.6209437653819209e-06,0.0012371610534274385,0.0001108102885071438,3.234721679730946e-05,-1.1856407614694603e-05,-0.00024558382597476765,0.0001044659684566144,6.71179541632109e-07,-0.0001159825264920262,-0.0002461508301111494,1.6412122782634467e-17,-2.5117802988692102e-17,1.1788647877188151e-14,1.4194653371198736e-16,-1.5351743758645437e-16,-1.6828971106604866e-08],"joint_position_rad":[-1.5455973636315916,-1.546892918194578,1.4160033943722086,-1.440139151857517,-1.570814413157018,0.02519018078120158],"joint_velocity_rad_s":[0.0014310846144376078,-0.02234557297387883,0.23585402039191636,-0.20809325667126755,-1.6209437653819209e-06,0.0012371610534274385],"linkage_position_rad":[0.0029337931925533817,0.00015652784593591512,0.003192658971807917,-0.0034300551341418534,0.0029337549759089867,0.00015611723306081104,0.0031955480068815946,-0.003439052187326317],"tcp_position_m":[-0.14652236630942128,0.49532975427436327,0.383264145649555],"tcp_quaternion_wxyz":[-7.795974735795638e-05,0.7071036720810138,0.7071098806771585,8.660576159621826e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.1028391700509724e-17,-1.383451819500522e-17,-1.5262971024264837e-08],"object_linear_velocity_m_s":[1.6412122782634467e-17,-2.5117802988692102e-17,1.1788647877188151e-14],"object_angular_velocity_rad_s":[1.4194652949136433e-16,-1.535174426272784e-16,-1.682897110660487e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313544333099552,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.545356078056706,-1.5624801138522002,1.4521474093070892,-1.486334087754052,-1.5708164672736182,0.025435147449904973,0.0],"actuator_force":[-0.08986269600336527,-22.236162125692772,-22.053578287005166,-2.288142281140722,-0.000864963923504547,-0.0012327709910469054,-0.29445378970793723],"issued_joint_targets_rad":[-1.5453353631355298,-1.5519025987973838,1.4672340779272321,-1.4858789059803688,-1.570817722133398,0.025460347790291108],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.6799999999999258,"joint_targets_rad":[-1.5453353631355298,-1.5519025987973838,1.4672340779272321,-1.4858789059803688,-1.570817722133398,0.025460347790291108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6999999999999236,"qpos":[-1.5455713806838534,-1.5473733528461986,1.4208685133530345,-1.4444825902614178,-1.5708147389152056,0.02521595955076559,0.0029338605010393462,0.00015652717340449435,0.003192733949107533,-0.0034301180185986415,0.0029338224546244782,0.00015611892272794644,0.0031956323631458393,-0.003439112422400501,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-5.534719758447545e-18,-3.4482092871483714e-18,-1.5534876444010965e-08],"qvel":[0.0014247547165473094,-0.021602544524168217,0.23502138672904122,-0.20820557074086635,9.163842859182922e-07,0.0012342273069297918,0.00011017597012040948,3.226593005287575e-05,-1.1553264431153341e-05,-0.0002448031057249478,0.000103893655679846,9.140104889345711e-07,-0.00011449265852626869,-0.00024522936447541515,-1.5044745715277352e-17,1.679788581280573e-17,1.179697454987284e-14,3.495245457126239e-15,2.699600847543668e-15,-6.764718317607092e-08],"joint_position_rad":[-1.5455713806838534,-1.5473733528461986,1.4208685133530345,-1.4444825902614178,-1.5708147389152056,0.02521595955076559],"joint_velocity_rad_s":[0.0014247547165473094,-0.021602544524168217,0.23502138672904122,-0.20820557074086635,9.163842859182922e-07,0.0012342273069297918],"linkage_position_rad":[0.0029338605010393462,0.00015652717340449435,0.003192733949107533,-0.0034301180185986415,0.0029338224546244782,0.00015611892272794644,0.0031956323631458393,-0.003439112422400501],"tcp_position_m":[-0.14653530231307832,0.4953318637780712,0.38156026968941625],"tcp_quaternion_wxyz":[-6.290401605347393e-05,0.7071036013146421,0.7071099545283082,7.251152721233054e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-5.534719758447545e-18,-3.4482092871483714e-18,-1.5534876444010965e-08],"object_linear_velocity_m_s":[-1.5044745715277352e-17,1.679788581280573e-17,1.179697454987284e-14],"object_angular_velocity_rad_s":[3.4952455414686927e-15,2.6996007381984383e-15,-6.764718317607094e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313543502875109,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5453308827882375,-1.5628095719838784,1.456841403096998,-1.4906996017720895,-1.5708163035968015,0.025460345380541875,0.0],"actuator_force":[-0.08890609538730132,-22.231420465692736,-22.062775203689853,-2.2879486812491905,-0.0008739792264123025,-0.0012298158048373864,-0.29445449591219247],"issued_joint_targets_rad":[-1.5453102217055092,-1.5522192443946894,1.4719136901518632,-1.490242712048722,-1.5708175575312853,0.025485490412067664],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.6999999999999236,"joint_targets_rad":[-1.5453102217055092,-1.5522192443946894,1.4719136901518632,-1.490242712048722,-1.5708175575312853,0.025485490412067664],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7199999999999214,"qpos":[-1.5455454677092921,-1.5478381996735955,1.4257162076953114,-1.4488280082902756,-1.5708150173903868,0.025241677597794148,0.0029339156302122357,0.00015652648685665003,0.0031927968588857224,-0.0034301693352543536,0.0029338777617941725,0.00015612065568443138,0.0031957048514183782,-0.0034391610600948276,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,8.988665820945802e-18,6.5123101086788895e-18,-1.579137403919023e-08],"qvel":[0.0014184324762612935,-0.02084825759770763,0.23417780800077476,-0.20829881512821885,3.213448775851396e-06,0.0012313206115864336,0.00010966392131519424,3.218489973688873e-05,-1.113967236051159e-05,-0.0002441411525314715,0.00010344324899664113,1.1551203671932036e-06,-0.00011289958770130736,-0.00024442757282635885,-5.513517266352472e-18,6.037826625860494e-18,1.177199453181877e-14,3.7261533159335056e-16,4.1917591596706964e-17,-7.3206043842049245e-09],"joint_position_rad":[-1.5455454677092921,-1.5478381996735955,1.4257162076953114,-1.4488280082902756,-1.5708150173903868,0.025241677597794148],"joint_velocity_rad_s":[0.0014184324762612935,-0.02084825759770763,0.23417780800077476,-0.20829881512821885,3.213448775851396e-06,0.0012313206115864336],"linkage_position_rad":[0.0029339156302122357,0.00015652648685665003,0.0031927968588857224,-0.0034301693352543536,0.0029338777617941725,0.00015612065568443138,0.0031957048514183782,-0.0034391610600948276],"tcp_position_m":[-0.14654821678810545,0.4953340158268081,0.3798562896799597],"tcp_quaternion_wxyz":[-4.92467877764725e-05,0.7071035334224929,0.7071100246992728,5.9715765070252736e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,8.988665820945802e-18,6.5123101086788895e-18,-1.579137403919023e-08],"object_linear_velocity_m_s":[-5.513517266352472e-18,6.037826625860494e-18,1.177199453181877e-14],"object_angular_velocity_rad_s":[3.726153328218751e-16,4.191757996009574e-17,-7.320604384204926e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313542780956627,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.545305742924072,-1.5631214009571774,1.4615159797875485,-1.4950633310436883,-1.5708161399270204,0.025485487947535246,0.0],"actuator_force":[-0.08792342006427134,-22.227099528081,-22.071579015835596,-2.2877798638844524,-0.0008826131943351356,-0.0012268862880926434,-0.29445520545187953],"issued_joint_targets_rad":[-1.5452851381293482,-1.5525181269887,1.4765738398911716,-1.494604829195177,-1.570817393228342,0.025510575179020313],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.7199999999999214,"joint_targets_rad":[-1.5452851381293482,-1.5525181269887,1.4765738398911716,-1.494604829195177,-1.570817393228342,0.025510575179020313],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7399999999999192,"qpos":[-1.5455196247197673,-1.5482872467773257,1.4305462808877496,-1.453175053007422,-1.5708152531443078,0.02526733520893579,0.002933960782189367,0.00015652578749017176,0.0031928498763961447,-0.0034302111780532872,0.0029339230985673094,0.00015612242584194254,0.0031957676211573486,-0.0034392001981950375,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.099797349333375e-17,2.4926792710576608e-17,-1.6214000100398953e-08],"qvel":[0.0014121118704541226,-0.020083898469296167,0.2333249279536347,-0.20837531931513045,5.29266663562615e-06,0.0012284269645352597,0.00010925206879607564,3.210409325546893e-05,-1.0637402482597306e-05,-0.00024357693704291108,0.00010309269437393714,1.3945854857786055e-06,-0.00011122467948201193,-0.00024372436488735307,-3.479435371338643e-17,-3.556879899114672e-17,1.1790035655968931e-14,-1.744140108031906e-15,8.024339597671564e-16,-2.9426532531366686e-08],"joint_position_rad":[-1.5455196247197673,-1.5482872467773257,1.4305462808877496,-1.453175053007422,-1.5708152531443078,0.02526733520893579],"joint_velocity_rad_s":[0.0014121118704541226,-0.020083898469296167,0.2333249279536347,-0.20837531931513045,5.29266663562615e-06,0.0012284269645352597],"linkage_position_rad":[0.002933960782189367,0.00015652578749017176,0.0031928498763961447,-0.0034302111780532872,0.0029339230985673094,0.00015612242584194254,0.0031957676211573486,-0.0034392001981950375],"tcp_position_m":[-0.14656110861806373,0.4953362125847241,0.37815220380786463],"tcp_quaternion_wxyz":[-3.685312249008784e-05,0.7071034685940262,0.7071100911677014,4.809312694845512e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.099797349333375e-17,2.4926792710576608e-17,-1.6214000100398953e-08],"object_linear_velocity_m_s":[-3.479435371338643e-17,-3.556879899114672e-17,1.1790035655968931e-14],"object_angular_velocity_rad_s":[-1.7441400834775952e-15,8.02434015090337e-16,-2.9426532531366693e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313542147796991,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5452806609428267,-1.5634156245162512,1.466171269994763,-1.4994253827469106,-1.5708159764121832,0.025510572664858896,0.0],"actuator_force":[-0.08691719430044031,-22.22319609013266,-22.079992967426733,-2.2876329382313543,-0.0008909006011208476,-0.0012239684919741478,-0.2944559178536839],"issued_joint_targets_rad":[-1.5452601148474339,-1.5527992638299297,1.4812146530084491,-1.4989653637401361,-1.5708172293405407,0.025535599659468004],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.7399999999999192,"joint_targets_rad":[-1.5452601148474339,-1.5527992638299297,1.4812146530084491,-1.4989653637401361,-1.5708172293405407,0.025535599659468004],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.759999999999917,"qpos":[-1.5454938518363999,-1.5487203045715234,1.4353585672670242,-1.457523415499014,-1.5708154503121918,0.025292932410004885,0.002933997761409404,0.0001565250764725274,0.0031928947829033437,-0.003430245263037985,0.0029339602685150294,0.00015612422784681704,0.003195822430564652,-0.0034392315561753966,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.0499360947912555e-17,2.0155227713238843e-17,-1.6325576584065905e-08],"qvel":[0.0014057870418176634,-0.019310528173508264,0.23246421247162546,-0.20843717973367462,7.174379124358415e-06,0.001225533952158458,0.00010892232183102372,3.202347928910116e-05,-1.0064272360659442e-05,-0.00024309321599387635,0.00010282391918781766,1.6324765497753642e-06,-0.00010948537199004653,-0.00024310244257032306,-2.3885706897789823e-17,-2.3222412524260195e-17,1.1792811213530495e-14,7.816804599309806e-16,-1.0277590867719679e-15,-3.184463756611774e-09],"joint_position_rad":[-1.5454938518363999,-1.5487203045715234,1.4353585672670242,-1.457523415499014,-1.5708154503121918,0.025292932410004885],"joint_velocity_rad_s":[0.0014057870418176634,-0.019310528173508264,0.23246421247162546,-0.20843717973367462,7.174379124358415e-06,0.001225533952158458],"linkage_position_rad":[0.002933997761409404,0.0001565250764725274,0.0031928947829033437,-0.003430245263037985,0.0029339602685150294,0.00015612422784681704,0.003195822430564652,-0.0034392315561753966],"tcp_position_m":[-0.146573976741644,0.49533845622831213,0.37644801048656673],"tcp_quaternion_wxyz":[-2.5601074117908098e-05,0.7071034069486998,0.7071101539488726,3.7530350151047474e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.0499360947912555e-17,2.0155227713238843e-17,-1.6325576584065905e-08],"object_linear_velocity_m_s":[-2.3885706897789823e-17,-2.3222412524260195e-17,1.1792811213530495e-14],"object_angular_velocity_rad_s":[7.816804262450939e-16,-1.027759112425295e-15,-3.184463756611775e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313541587415479,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5452556392695562,-1.5636922638545485,1.4708073997572,-1.5037858620473532,-1.5708158131822296,0.025535597100327503,0.0],"actuator_force":[-0.0858896830395679,-22.219707296646448,-22.088020008298372,-2.287505300802195,-0.0008988729313159638,-0.001221050054535766,-0.2944566327013159],"issued_joint_targets_rad":[-1.5452351542628764,-1.553062670085625,1.4858362510097307,-1.5033244199824445,-1.5708170659690055,0.02556056145754276],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.759999999999917,"joint_targets_rad":[-1.5452351542628764,-1.553062670085625,1.4858362510097307,-1.5033244199824445,-1.5708170659690055,0.02556056145754276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7799999999999148,"qpos":[-1.5454681492874371,-1.5491372034119375,1.4401529286543446,-1.4618728264617011,-1.5708156126422181,0.02531846899450218,0.002934028046422864,0.00015652435492640224,0.0031929330369472476,-0.0034302729965433997,0.002933990749410664,0.00015612605698885556,0.003195870717576027,-0.003439256543432834,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.5848799100474184e-17,1.9507030086124315e-17,-1.677407903742132e-08],"qvel":[0.001399452260132571,-0.018529094819311445,0.2315969673561157,-0.2084862826275073,8.877043186473406e-06,0.001222630515231187,0.00010865985372561168,3.1943027815086825e-05,-9.434859928731385e-06,-0.00024267585009525933,0.00010262211382950165,1.868859428502515e-06,-0.00010769588750973284,-0.00024254761627685804,-2.5021040440770893e-17,-3.0389815614899365e-17,1.1792811213530495e-14,1.0648592962660893e-15,-7.069834200057568e-16,-1.2800545065795316e-08],"joint_position_rad":[-1.5454681492874371,-1.5491372034119375,1.4401529286543446,-1.4618728264617011,-1.5708156126422181,0.02531846899450218],"joint_velocity_rad_s":[0.001399452260132571,-0.018529094819311445,0.2315969673561157,-0.2084862826275073,8.877043186473406e-06,0.001222630515231187],"linkage_position_rad":[0.002934028046422864,0.00015652435492640224,0.0031929330369472476,-0.0034302729965433997,0.002933990749410664,0.00015612605698885556,0.003195870717576027,-0.003439256543432834],"tcp_position_m":[-0.14658682014409838,0.495340748965035,0.37474370833260495],"tcp_quaternion_wxyz":[-1.538043888805108e-05,0.7071033485484022,0.707110213089351,2.7925091603909314e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.5848799100474184e-17,1.9507030086124315e-17,-1.677407903742132e-08],"object_linear_velocity_m_s":[-2.5021040440770893e-17,-3.0389815614899365e-17,1.1792811213530495e-14],"object_angular_velocity_rad_s":[1.064859272048696e-15,-7.069834563915821e-16,-1.280054506579532e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313541086749652,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.545230680293865,-1.5639513376896008,1.4754244907162979,-1.5081448722017239,-1.570815650350942,0.02556055885761751,0.0],"actuator_force":[-0.08484291690865575,-22.21663062760217,-22.095662818539495,-2.287394607260694,-0.0009065586805263592,-0.0012181199654541786,-0.29445734962945197],"issued_joint_targets_rad":[-1.54521025875923,-1.5533083588616998,1.4904387511958745,-1.5076821003038103,-1.5708169032015327,0.025585458195743892],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.7799999999999148,"joint_targets_rad":[-1.54521025875923,-1.5533083588616998,1.4904387511958745,-1.5076821003038103,-1.5708169032015327,0.025585458195743892],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7999999999999126,"qpos":[-1.5454425174068187,-1.5495377914567954,1.4449292513279166,-1.4662230522231043,-1.5708157435313523,0.02534394454772659,0.0029340528487254705,0.000156523623919791,0.0031929658327312827,-0.0034302955310900724,0.002934015752053888,0.00015612790912237094,0.0031959136580000593,-0.0034392763152076913,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.3606827491268734e-17,1.6025083942721815e-17,-1.7127843333920716e-08],"qvel":[0.0013931018837099562,-0.017740444670652493,0.23072435430714916,-0.20852432467137466,1.0417405124165699e-05,0.0012197067390072984,0.00010845251295392459,3.1862710114061175e-05,-8.761088774704183e-06,-0.00024231324461249093,0.00010247514295946496,2.1037958217014124e-06,-0.00010586781503498733,-0.00024204824444985773,-2.6431312953491146e-17,-4.433703370323824e-17,1.1792811213530496e-14,-1.5064326543119544e-16,3.232469070769728e-17,-5.1454174550203454e-08],"joint_position_rad":[-1.5454425174068187,-1.5495377914567954,1.4449292513279166,-1.4662230522231043,-1.5708157435313523,0.02534394454772659],"joint_velocity_rad_s":[0.0013931018837099562,-0.017740444670652493,0.23072435430714916,-0.20852432467137466,1.0417405124165699e-05,0.0012197067390072984],"linkage_position_rad":[0.0029340528487254705,0.000156523623919791,0.0031929658327312827,-0.0034302955310900724,0.002934015752053888,0.00015612790912237094,0.0031959136580000593,-0.0034392763152076913],"tcp_position_m":[-0.14659963784925115,0.49534309305161756,0.37303929614430265],"tcp_quaternion_wxyz":[-6.091624241672068e-06,0.7071032934079912,0.7071102686614049,1.9184874427887386e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.3606827491268734e-17,1.6025083942721815e-17,-1.7127843333920716e-08],"object_linear_velocity_m_s":[-2.6431312953491146e-17,-4.433703370323824e-17,1.1792811213530496e-14],"object_angular_velocity_rad_s":[-1.5064326597300589e-16,3.2324693438746154e-17,-5.145417455020347e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313540635124719,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.54520578638744,-1.564192862325598,1.4800226602740512,-1.512502514651359,-1.570815488017587,0.025585455558816632,0.0],"actuator_force":[-0.08377871472657716,-22.213963869344752,-22.1029238305905,-2.287298746990018,-0.0009139836297435977,-0.0012151683557082293,-0.2944580683185348],"issued_joint_targets_rad":[-1.5451854307178152,-1.553536341216676,1.495022266794008,-1.512038505263214,-1.570816741113966,0.025610287497859485],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.7999999999999126,"joint_targets_rad":[-1.5451854307178152,-1.553536341216676,1.495022266794008,-1.512038505263214,-1.570816741113966,0.025610287497859485],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8199999999999104,"qpos":[-1.5454169566334588,-1.5499219327371105,1.449687443297241,-1.470573891152667,-1.5708158460578727,0.02536935846693688,0.002934073160972637,0.00015652288446002156,0.003192994147957514,-0.003430313811179317,0.0029340362684768706,0.000156129780597314,0.0031959522131293975,-0.00343929181842188,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.6978058773225805e-17,1.2088738972791984e-17,-1.732294195317454e-08],"qvel":[0.0013867303206656202,-0.016945332112288318,0.22984740528406036,-0.2085528315692148,1.181065827876573e-05,0.0012167536651131767,0.0001082903404288056,3.178249854510672e-05,-8.052707780597354e-06,-0.0002419958901027916,0.00010237306288784584,2.337343860054887e-06,-0.00010401058702430352,-0.0002415947752740473,-1.4510543440034892e-17,-2.2165444380104095e-17,1.1801137886215187e-14,9.008189414346119e-16,-6.466012388005138e-16,-5.568238588995836e-09],"joint_position_rad":[-1.5454169566334588,-1.5499219327371105,1.449687443297241,-1.470573891152667,-1.5708158460578727,0.02536935846693688],"joint_velocity_rad_s":[0.0013867303206656202,-0.016945332112288318,0.22984740528406036,-0.2085528315692148,1.181065827876573e-05,0.0012167536651131767],"linkage_position_rad":[0.002934073160972637,0.00015652288446002156,0.003192994147957514,-0.003430313811179317,0.0029340362684768706,0.000156129780597314,0.0031959522131293975,-0.00343929181842188],"tcp_position_m":[-0.146612428911997,0.49534549081222223,0.37133477288255645],"tcp_quaternion_wxyz":[2.3553733031706405e-06,0.7071032415042255,0.7071103207581138,1.1226136145665748e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.6978058773225805e-17,1.2088738972791984e-17,-1.732294195317454e-08],"object_linear_velocity_m_s":[-1.4510543440034892e-17,-2.2165444380104095e-17,1.1801137886215187e-14],"object_angular_velocity_rad_s":[9.00818918897914e-16,-6.466012701992578e-16,-5.5682385889958366e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313540223819035,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.545180959921204,-1.564416851704058,1.4846020217294407,-1.5168588891067776,-1.5708153262684004,0.02561028482734112,0.0],"actuator_force":[-0.08269870375670507,-22.211705088979215,-22.109805249225246,-2.287215820133838,-0.0009211710917043092,-0.00121218630919806,-0.2944587884890586],"issued_joint_targets_rad":[-1.545160672534861,-1.553746626167398,1.4995869070693706,-1.516393733682281,-1.5708165797714442,0.025635046972014967],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.8199999999999104,"joint_targets_rad":[-1.545160672534861,-1.553746626167398,1.4995869070693706,-1.516393733682281,-1.5708165797714442,0.025635046972014967],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8399999999999082,"qpos":[-1.5453914675112572,-1.55028950541527,1.4544274318485617,-1.474925170424611,-1.5708159230108933,0.025394709977955062,0.002934089796491542,0.00015652213749007068,0.003193018783016883,-0.003430328610839759,0.0029340531114489623,0.00015613166820024806,0.0031959871687286217,-0.003439303829244747,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.0715036490502272e-17,9.485290323354826e-18,-1.774225594442717e-08],"qvel":[0.0013803319895390386,-0.016144428608157204,0.22896703540484814,-0.20857317482897214,1.3070586143385957e-05,0.0012137631220568489,0.00010816517397849497,3.17023666689118e-05,-7.317683724338981e-06,-0.00024171598631296957,0.00010230772614619184,2.5695584881451786e-06,-0.00010213187077479622,-0.00024117936891396915,-1.2598720530488943e-17,1.2960210028732612e-17,1.1796974549872843e-14,1.2877236552190835e-15,-3.1575020997138e-16,-2.2382571900075707e-08],"joint_position_rad":[-1.5453914675112572,-1.55028950541527,1.4544274318485617,-1.474925170424611,-1.5708159230108933,0.025394709977955062],"joint_velocity_rad_s":[0.0013803319895390386,-0.016144428608157204,0.22896703540484814,-0.20857317482897214,1.3070586143385957e-05,0.0012137631220568489],"linkage_position_rad":[0.002934089796491542,0.00015652213749007068,0.003193018783016883,-0.003430328610839759,0.0029340531114489623,0.00015613166820024806,0.0031959871687286217,-0.003439303829244747],"tcp_position_m":[-0.14662519241120822,0.4953479446567157,0.36963013765352587],"tcp_quaternion_wxyz":[1.0041891835020485e-05,0.7071031927833077,0.7071103694891093,3.973368711635051e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.0715036490502272e-17,9.485290323354826e-18,-1.774225594442717e-08],"object_linear_velocity_m_s":[-1.2598720530488943e-17,1.2960210028732612e-17,1.1796974549872843e-14],"object_angular_velocity_rad_s":[1.2877236435902307e-15,-3.157502551859651e-16,-2.2382571900075714e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313539845708436,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5451562032823039,-1.5646233174427506,1.4891626843947197,-1.5212140936241454,-1.570815165177935,0.025635044270980515,0.0],"actuator_force":[-0.08160433790862953,-22.209852611698352,-22.11630906962364,-2.2871441168699675,-0.000928142135080634,-0.0012091656929591466,-0.29445950989764863],"issued_joint_targets_rad":[-1.545135986638688,-1.5539392206861578,1.5041327774183462,-1.5207478827225624,-1.5708164192295224,0.025659734193661292],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.8399999999999082,"joint_targets_rad":[-1.545135986638688,-1.5539392206861578,1.5041327774183462,-1.5207478827225624,-1.5708164192295224,0.025659734193661292],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.859999999999906,"qpos":[-1.5453660506898668,-1.5506404002127807,1.4591491613337728,-1.479276743098472,-1.5708159769171637,0.025419998148547833,0.00293410342166098,0.00015652138388727441,0.0031930403930919204,-0.00343034056438864,0.0029340669468497452,0.0001561335691017533,0.0031960191669584853,-0.0034393129838880543,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,3.1928882643652384e-17,7.430562177724266e-18,-1.7974495491515046e-08],"qvel":[0.001373901278776296,-0.015338330748450167,0.22808405452738204,-0.20858658689321308,1.4209692330858124e-05,0.0012107275717067397,0.00010807032406606871,3.162228896713665e-05,-6.5625234169808105e-06,-0.0002414671337182571,0.0001022724573093996,2.8004920236640727e-06,-0.00010023788754100645,-0.00024079559082021158,-1.5235022375878766e-17,1.3542323512691468e-16,1.1795586771092063e-14,1.0270484330609019e-14,3.2113117347650793e-16,-8.997091573126086e-08],"joint_position_rad":[-1.5453660506898668,-1.5506404002127807,1.4591491613337728,-1.479276743098472,-1.5708159769171637,0.025419998148547833],"joint_velocity_rad_s":[0.001373901278776296,-0.015338330748450167,0.22808405452738204,-0.20858658689321308,1.4209692330858124e-05,0.0012107275717067397],"linkage_position_rad":[0.00293410342166098,0.00015652138388727441,0.0031930403930919204,-0.00343034056438864,0.0029340669468497452,0.0001561335691017533,0.0031960191669584853,-0.0034393129838880543],"tcp_position_m":[-0.14663792744297421,0.495350457099254,0.36792538969303],"tcp_quaternion_wxyz":[1.7041438765202924e-05,0.7071031471672439,0.70711041497689,-2.641658500501773e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.1928882643652384e-17,7.430562177724266e-18,-1.7974495491515046e-08],"object_linear_velocity_m_s":[-1.5235022375878766e-17,1.3542323512691468e-16,1.1795586771092063e-14],"object_angular_velocity_rad_s":[1.0270484340816289e-14,3.211308100083009e-16,-8.997091573126088e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313539494975064,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5451315188911563,-1.5648122688628647,1.4937047536924004,-1.525568224674506,-1.5708150048102727,0.02565973146488235,0.0],"actuator_force":[-0.08049691408950821,-22.20840500078839,-22.1224370936975,-2.287082098695805,-0.0009349157876386016,-0.0012060990034168384,-0.29446023233241364],"issued_joint_targets_rad":[-1.5451113755071624,-1.5541141296887304,1.5086599794431932,-1.5251010479555096,-1.5708162595351849,0.025684346688263204],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.859999999999906,"joint_targets_rad":[-1.5451113755071624,-1.5541141296887304,1.5086599794431932,-1.5251010479555096,-1.5708162595351849,0.025684346688263204],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8799999999999037,"qpos":[-1.5453407069262433,-1.5509745189898483,1.4638525911778,-1.4836284854860902,-1.5708160100653858,0.02544522189886719,0.002934114582446809,0.0001565206244632745,0.0031930595144569786,-0.003430350191644754,0.0029340783201985106,0.0001561354808119247,0.0031960487325135333,-0.003439319803840465,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,5.680844537293022e-17,6.414925773222884e-18,-1.8315637907764353e-08],"qvel":[0.0013674325045060396,-0.014527567471660894,0.2271991776405535,-0.20859417478667017,1.52393185172555e-05,0.001207639969110566,0.00010800030810230864,3.154224088472421e-05,-5.7925374433123015e-06,-0.0002412440805679081,0.00010226178739530947,3.0301944777364697e-06,-9.83336751297669e-05,-0.00024043815603719983,-7.674446322128267e-18,6.227867275225354e-17,1.1894119064527548e-14,-1.097132603210983e-15,-2.009218676163024e-16,-9.736421373804866e-09],"joint_position_rad":[-1.5453407069262433,-1.5509745189898483,1.4638525911778,-1.4836284854860902,-1.5708160100653858,0.02544522189886719],"joint_velocity_rad_s":[0.0013674325045060396,-0.014527567471660894,0.2271991776405535,-0.20859417478667017,1.52393185172555e-05,0.001207639969110566],"linkage_position_rad":[0.002934114582446809,0.0001565206244632745,0.0031930595144569786,-0.003430350191644754,0.0029340783201985106,0.0001561354808119247,0.0031960487325135333,-0.003439319803840465],"tcp_position_m":[-0.14665063311409945,0.4953530307774249,0.36622052835248753],"tcp_quaternion_wxyz":[2.3420445143792157e-05,0.7071031045591887,0.7071104573536489,-8.680600756541327e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,5.680844537293022e-17,6.414925773222884e-18,-1.8315637907764353e-08],"object_linear_velocity_m_s":[-7.674446322128267e-18,6.227867275225354e-17,1.1894119064527548e-14],"object_angular_velocity_rad_s":[-1.0971326106959239e-15,-2.0092182632071343e-16,-9.736421373804871e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931353916686904,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5451069092187772,-1.5649837130042432,1.4982283312334987,-1.5299213772064817,-1.5708148452201196,0.025684343934237304,0.0],"actuator_force":[-0.07937758687057794,-22.20736104012576,-22.128190944823928,-2.287028381528785,-0.0009415092185918184,-0.0012029792259991012,-0.29446095560975405],"issued_joint_targets_rad":[-1.545086841685662,-1.5542713560126211,1.5131686110086806,-1.5294533234258552,-1.570816100727756,0.025708881913448868],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.8799999999999037,"joint_targets_rad":[-1.545086841685662,-1.5542713560126211,1.5131686110086806,-1.5294533234258552,-1.570816100727756,0.025708881913448868],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8999999999999015,"qpos":[-1.5453154370870328,-1.5512917734611051,1.4685376940818666,-1.4879802947769625,-1.5708160245282912,0.025470380009181535,0.00293412372614677,0.00015651985996521876,0.003193076586021058,-0.003430357918595591,0.00293408767839355,0.0001561374011399442,0.0031960762940179267,-0.0034393247165519195,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,6.58271901506337e-17,-7.085560697121064e-18,-1.8682857251869677e-08],"qvel":[0.0013609198660192044,-0.013712606538483458,0.22631303417991766,-0.20859693242617056,1.6169751557757696e-05,0.0012044936332793912,0.00010795063254774503,3.14621984942966e-05,-5.0120562750285845e-06,-0.0002410425170954992,0.00010227123605957592,3.258713966140235e-06,-9.642330162579874e-05,-0.00024010272441399763,1.6093745944061958e-17,9.527281278631229e-17,1.1952405773320369e-14,7.495892736996407e-16,-1.3952596001148128e-15,-3.913735878332228e-08],"joint_position_rad":[-1.5453154370870328,-1.5512917734611051,1.4685376940818666,-1.4879802947769625,-1.5708160245282912,0.025470380009181535],"joint_velocity_rad_s":[0.0013609198660192044,-0.013712606538483458,0.22631303417991766,-0.20859693242617056,1.6169751557757696e-05,0.0012044936332793912],"linkage_position_rad":[0.00293412372614677,0.00015651985996521876,0.003193076586021058,-0.003430357918595591,0.00293408767839355,0.0001561374011399442,0.0031960762940179267,-0.0034393247165519195],"tcp_position_m":[-0.14666330853578208,0.49535566847218826,0.36451555308624195],"tcp_quaternion_wxyz":[2.9238947331691845e-05,0.707103064847916,0.7071104967585693,-1.4199172299937266e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,6.58271901506337e-17,-7.085560697121064e-18,-1.8682857251869677e-08],"object_linear_velocity_m_s":[1.6093745944061958e-17,9.527281278631229e-17,1.1952405773320369e-14],"object_angular_velocity_rad_s":[7.49589222119389e-16,-1.3952596229711464e-15,-3.91373587833223e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313538857513448,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5450823768046364,-1.5651376546282774,1.5027335148772967,-1.5342736447030807,-1.5708146864537915,0.025708879136426,0.0],"actuator_force":[-0.07824738161525602,-22.206719718951263,-22.13357208110665,-2.2869817204420997,-0.0009479379059484927,-0.0011997997057076049,-0.2944616795700526],"issued_joint_targets_rad":[-1.545062387805839,-1.5544109003846547,1.5176587662805292,-1.5338048017090138,-1.570815942839716,0.02573333724035545],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.8999999999999015,"joint_targets_rad":[-1.545062387805839,-1.5544109003846547,1.5176587662805292,-1.5338048017090138,-1.570815942839716,0.02573333724035545],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9199999999998993,"qpos":[-1.5452902425870232,-1.551592082736756,1.473204409149919,-1.4923320869887111,-1.5708160222005951,0.0254954711253508,0.0029341312070556157,0.0001565190039198541,0.0031930922347038148,-0.0034303637393680447,0.0029340953923891995,0.00015613932781871897,0.0031961027704921065,-0.0034393276983245413,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,5.2104522717087875e-17,-9.22916144683665e-18,-1.883125424252429e-08],"qvel":[0.001354385927580514,-0.012894146432942942,0.22542626089054815,-0.2085958373812494,1.7003671554272064e-05,0.0012012821687759476,0.00010790527469140407,3.1384599056857624e-05,-4.255352100681412e-06,-0.00024083238747565528,0.0001022841174415173,3.475934820451242e-06,-9.458864214743527e-05,-0.000239773125916089,9.77314546133032e-18,6.144796305375021e-17,1.1964895782347405e-14,-2.2762169995865922e-15,2.764148263979722e-16,-4.235344427419297e-09],"joint_position_rad":[-1.5452902425870232,-1.551592082736756,1.473204409149919,-1.4923320869887111,-1.5708160222005951,0.0254954711253508],"joint_velocity_rad_s":[0.001354385927580514,-0.012894146432942942,0.22542626089054815,-0.2085958373812494,1.7003671554272064e-05,0.0012012821687759476],"linkage_position_rad":[0.0029341312070556157,0.0001565190039198541,0.0031930922347038148,-0.0034303637393680447,0.0029340953923891995,0.00015613932781871897,0.0031961027704921065,-0.0034393276983245413],"tcp_position_m":[-0.1466759528642548,0.4953583836588467,0.3628104850112588],"tcp_quaternion_wxyz":[3.453524387487513e-05,0.7071030280662495,0.7071105331820241,-1.923254188202748e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,5.2104522717087875e-17,-9.22916144683665e-18,-1.883125424252429e-08],"object_linear_velocity_m_s":[9.77314546133032e-18,6.144796305375021e-17,1.1964895782347405e-14],"object_angular_velocity_rad_s":[-2.2762169890979382e-15,2.764149125673754e-16,-4.235344427419299e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313538554550643,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5450579242864875,-1.5652740962017946,1.5072203987679436,-1.5386251193926803,-1.5708145285502204,0.025733334442433288,0.0],"actuator_force":[-0.07711776996075059,-22.20636835689993,-22.138525120170016,-2.286932463859671,-0.0009535419679878032,-0.0011965583363497956,-0.2944622769329054],"issued_joint_targets_rad":[-1.5450380170188205,-1.5545327425416846,1.522130461649932,-1.5381555189411884,-1.570815785891456,0.025757709521900655],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.9199999999998993,"joint_targets_rad":[-1.5450380170188205,-1.5545327425416846,1.522130461649932,-1.5381555189411884,-1.570815785891456,0.025757709521900655],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9399999999998971,"qpos":[-1.5452651244528508,-1.5518753738585798,1.4778526892313535,-1.4966837905978945,-1.5708160047812363,0.02552049372353572,0.0029341372753002247,0.00015651805910260583,0.003193106687249869,-0.0034303678886681223,0.0029341017088508306,0.00015614124774925196,0.003196128340596486,-0.0034393289759425427,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,3.935345049531378e-17,8.141162227999205e-18,-1.9297993559220998e-08],"qvel":[0.001347823007950482,-0.012072439916660085,0.22453918717849797,-0.2085914269921149,1.775123966941708e-05,0.0011979973641076459,0.00010786276084352858,3.131055717378205e-05,-3.522950193937762e-06,-0.00024062274175751697,0.00010229900064870143,3.684864657377472e-06,-9.28232896611883e-05,-0.000239456187257827,-9.62713185994756e-18,5.0596108963179765e-17,1.1974610233812877e-14,-1.7908067956827565e-15,3.738321599603224e-16,-1.702475561224096e-08],"joint_position_rad":[-1.5452651244528508,-1.5518753738585798,1.4778526892313535,-1.4966837905978945,-1.5708160047812363,0.02552049372353572],"joint_velocity_rad_s":[0.001347823007950482,-0.012072439916660085,0.22453918717849797,-0.2085914269921149,1.775123966941708e-05,0.0011979973641076459],"linkage_position_rad":[0.0029341372753002247,0.00015651805910260583,0.003193106687249869,-0.0034303678886681223,0.0029341017088508306,0.00015614124774925196,0.003196128340596486,-0.0034393289759425427],"tcp_position_m":[-0.14668856546095968,0.49536118825003506,0.3611053433153043],"tcp_quaternion_wxyz":[3.934516102981787e-05,0.7071029940476603,0.7071105668095352,-2.38136565058362e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,3.935345049531378e-17,8.141162227999205e-18,-1.9297993559220998e-08],"object_linear_velocity_m_s":[-9.62713185994756e-18,5.0596108963179765e-17,1.1974610233812877e-14],"object_angular_velocity_rad_s":[-1.790806781531537e-15,3.7383223041824404e-16,-1.7024755612240966e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313538256389181,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5450335548126937,-1.56539301907261,1.511688999260334,-1.5429758370794158,-1.5708143715355127,0.02575770670503019,0.0],"actuator_force":[-0.07598992286557404,-22.206314461396687,-22.143054813438084,-2.2868805415491806,-0.0009585011051740366,-0.0011932456635292965,-0.2944627580150139],"issued_joint_targets_rad":[-1.5450137322342223,-1.5546368646915874,1.5265837197757637,-1.5425055151046625,-1.570815629899621,0.025781995851455596],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.9399999999998971,"joint_targets_rad":[-1.5450137322342223,-1.5546368646915874,1.5265837197757637,-1.5425055151046625,-1.570815629899621,0.025781995851455596],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.959999999999895,"qpos":[-1.5452400835122433,-1.5521415802395002,1.4824825334707041,-1.5010353446296287,-1.5708159737899332,0.025545446145981917,0.0029341421493228486,0.00015651710335198645,0.0031931199119154224,-0.00343037088296302,0.0029341068310722524,0.00015614316129572433,0.0031961527038570346,-0.0034393290831239956,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,2.691934065831784e-17,1.2175050677277811e-17,-1.9573062266124774e-08],"qvel":[0.0013411983002417508,-0.01124749035878305,0.22365205736447513,-0.2085841354818904,1.8425850447846332e-05,0.0011946328740327554,0.00010783183741586799,3.123773667448842e-05,-2.789790273527804e-06,-0.0002404336879599468,0.00010232527096622246,3.894306613008897e-06,-9.106010660349557e-05,-0.00023916017903065394,-3.7743706020068157e-17,3.387115736798621e-17,1.1907996852335367e-14,-3.587379529508685e-16,1.3628430373389776e-15,-6.843417545443148e-08],"joint_position_rad":[-1.5452400835122433,-1.5521415802395002,1.4824825334707041,-1.5010353446296287,-1.5708159737899332,0.025545446145981917],"joint_velocity_rad_s":[0.0013411983002417508,-0.01124749035878305,0.22365205736447513,-0.2085841354818904,1.8425850447846332e-05,0.0011946328740327554],"linkage_position_rad":[0.0029341421493228486,0.00015651710335198645,0.0031931199119154224,-0.00343037088296302,0.0029341068310722524,0.00015614316129572433,0.0031961527038570346,-0.0034393290831239956],"tcp_position_m":[-0.14670114559837447,0.4953640849558811,0.3594001282912488],"tcp_quaternion_wxyz":[4.371511453989178e-05,0.7071029625053862,0.7071105979420038,-2.7985641407427077e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,2.691934065831784e-17,1.2175050677277811e-17,-1.9573062266124774e-08],"object_linear_velocity_m_s":[-3.7743706020068157e-17,3.387115736798621e-17,1.1907996852335367e-14],"object_angular_velocity_rad_s":[-3.5873790126722416e-16,1.3628430550665835e-15,-6.843417545443151e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313537969353303,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5450092712809702,-1.5654944069563865,1.5161393389756592,-1.54732583730575,-1.570814215431377,0.025781993017392715,0.0],"actuator_force":[-0.07485485755023547,-22.2066572902595,-22.147211935879568,-2.286832789871596,-0.0009634057665834916,-0.001189851697876776,-0.2944632345616655],"issued_joint_targets_rad":[-1.544989536201673,-1.5547232645136058,1.5310186259945304,-1.5468548772408701,-1.5708154748827472,0.025806193481266868],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.959999999999895,"joint_targets_rad":[-1.544989536201673,-1.5547232645136058,1.5310186259945304,-1.5468548772408701,-1.5708154748827472,0.025806193481266868],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9799999999998927,"qpos":[-1.5452151211366079,-1.552390639961503,1.4870939489847486,-1.505386701473068,-1.5708159306137024,0.025570326629890314,0.0029341460444513496,0.0001565161448927421,0.0031931320998128923,-0.003430372970483038,0.0029341109749723114,0.00015614507721182605,0.003196176047302952,-0.0034393282785014985,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.8207259708925593e-17,1.3684434813031708e-17,-1.983254389725863e-08],"qvel":[0.0013345016295968322,-0.01041958524732082,0.22276527286929512,-0.20857463909599971,1.903364559181361e-05,0.0011911837301864924,0.00010781082902701038,3.116483230777832e-05,-2.055530296273185e-06,-0.00024025585381002687,0.00010236131805291382,4.10286210303324e-06,-8.929894274614486e-05,-0.00023887606409987478,-1.627193174936587e-17,2.2247410508641903e-17,1.1960732446005064e-14,-1.1902020049339007e-15,-3.97359327297648e-16,-7.405770666861584e-09],"joint_position_rad":[-1.5452151211366079,-1.552390639961503,1.4870939489847486,-1.505386701473068,-1.5708159306137024,0.025570326629890314],"joint_velocity_rad_s":[0.0013345016295968322,-0.01041958524732082,0.22276527286929512,-0.20857463909599971,1.903364559181361e-05,0.0011911837301864924],"linkage_position_rad":[0.0029341460444513496,0.0001565161448927421,0.0031931320998128923,-0.003430372970483038,0.0029341109749723114,0.00015614507721182605,0.003196176047302952,-0.0034393282785014985],"tcp_position_m":[-0.14671369232298184,0.4953670769242728,0.3576948395607433],"tcp_quaternion_wxyz":[4.76878320593721e-05,0.7071029333060518,0.7071106267235402,-3.1788200196497185e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.8207259708925593e-17,1.3684434813031708e-17,-1.983254389725863e-08],"object_linear_velocity_m_s":[-1.627193174936587e-17,2.2247410508641903e-17,1.1960732446005064e-14],"object_angular_velocity_rad_s":[-1.1902020208978802e-15,-3.973592798185032e-16,-7.405770666861587e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313537692227143,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5449850764366435,-1.5655782589198175,1.5205715032101246,-1.5516752067151331,-1.5708140602610228,0.0258061906315911,0.0],"actuator_force":[-0.07371125191002648,-22.20740381770065,-22.151000696966094,-2.2867887114326777,-0.0009681882194172431,-0.0011863721682559003,-0.29446371170658264],"issued_joint_targets_rad":[-1.5449654321380921,-1.554791937285629,1.5354352637233029,-1.551203692940875,-1.570815320855912,0.02583029919710853],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.9799999999998927,"joint_targets_rad":[-1.5449654321380921,-1.554791937285629,1.5354352637233029,-1.551203692940875,-1.570815320855912,0.02583029919710853],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9999999999998905,"qpos":[-1.5451902388596832,-1.552622496600959,1.4916869502386194,-1.5097378264399952,-1.570815876511068,0.025595133275536495,0.002934149139451998,0.00015651518422035067,0.0031931434226550853,-0.003430374320986006,0.002934114319222261,0.00015614699453977342,0.0031961985368718394,-0.0034393267338985976,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-7.521639864393682e-19,9.413438733666817e-18,-2.026008669603397e-08],"qvel":[0.0013277257232472107,-0.009588988904388952,0.2218791810361867,-0.20856355497725224,1.9580858760418064e-05,0.0011876432933573746,0.0001077979836457288,3.109180835067025e-05,-1.321485008753689e-06,-0.00024008748136401657,0.00010240537610378843,4.310499329408289e-06,-8.754097752221638e-05,-0.00023860182842640163,-1.1604114139770085e-17,-1.2632516009714081e-18,1.1683176689848778e-14,-1.0977608640348357e-15,-4.575939425280831e-16,-2.9768874263767744e-08],"joint_position_rad":[-1.5451902388596832,-1.552622496600959,1.4916869502386194,-1.5097378264399952,-1.570815876511068,0.025595133275536495],"joint_velocity_rad_s":[0.0013277257232472107,-0.009588988904388952,0.2218791810361867,-0.20856355497725224,1.9580858760418064e-05,0.0011876432933573746],"linkage_position_rad":[0.002934149139451998,0.00015651518422035067,0.0031931434226550853,-0.003430374320986006,0.002934114319222261,0.00015614699453977342,0.0031961985368718394,-0.0034393267338985976],"tcp_position_m":[-0.14672620463914998,0.49537016752947727,0.35598947674326],"tcp_quaternion_wxyz":[5.130198883808399e-05,0.7071029063239443,0.7071106532879147,-3.525726674147266e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-7.521639864393682e-19,9.413438733666817e-18,-2.026008669603397e-08],"object_linear_velocity_m_s":[-1.1604114139770085e-17,-1.2632516009714081e-18,1.1683176689848778e-14],"object_angular_velocity_rad_s":[-1.0977608831370761e-15,-4.575938980914046e-16,-2.9768874263767757e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313537423534855,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544960973493716,-1.5656445715094618,1.524985575336255,-1.5560240325402321,-1.5708139060437705,0.025830296333240296,0.0],"actuator_force":[-0.07255955736445685,-22.20855425524951,-22.154422219203752,-2.286747552393308,-0.0009728522272780538,-0.001182800483837454,-0.2944641897324605],"issued_joint_targets_rad":[-1.544941423483693,-1.554842876021864,1.5398337129209656,-1.5555520486749748,-1.5708151678301958,0.02585430956167264],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.9999999999998905,"joint_targets_rad":[-1.544941423483693,-1.554842876021864,1.5398337129209656,-1.5555520486749748,-1.5708151678301958,0.02585430956167264],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0199999999998886,"qpos":[-1.545165438361347,-1.5528370985745021,1.4962615579920286,-1.5140886964609273,-1.570815812620681,0.02561986403684635,0.002934151581040524,0.00015651422179672767,0.0031931540232921656,-0.00343037507445344,0.002934117010323712,0.0001561489122377725,0.003196220310199746,-0.0034393245898992754,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-3.643658467086492e-18,5.994006931090389e-18,-2.0372961235687405e-08],"qvel":[0.00132086305401219,-0.008755930585896599,0.22099407955664838,-0.20855143624282946,2.007318156371608e-05,0.0011840045363950536,0.00010779182397873599,3.10186451667169e-05,-5.88978396061686e-07,-0.0002399271392292444,0.00010245597889782233,4.517254861482363e-06,-8.578733255273433e-05,-0.00023833603286917162,-6.973854130279741e-18,-2.7001940024603096e-18,1.1583256617632517e-14,1.207291201852421e-16,-2.1089148845689732e-16,-3.221511099449239e-09],"joint_position_rad":[-1.545165438361347,-1.5528370985745021,1.4962615579920286,-1.5140886964609273,-1.570815812620681,0.02561986403684635],"joint_velocity_rad_s":[0.00132086305401219,-0.008755930585896599,0.22099407955664838,-0.20855143624282946,2.007318156371608e-05,0.0011840045363950536],"linkage_position_rad":[0.002934151581040524,0.00015651422179672767,0.0031931540232921656,-0.00343037507445344,0.002934117010323712,0.0001561489122377725,0.003196220310199746,-0.0034393245898992754],"tcp_position_m":[-0.1467386815155367,0.49537336039190316,0.3542840395132755],"tcp_quaternion_wxyz":[5.459253797811018e-05,0.7071028814322412,0.7071106777678947,-3.8425313975234963e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-3.643658467086492e-18,5.994006931090389e-18,-2.0372961235687405e-08],"object_linear_velocity_m_s":[-6.973854130279741e-18,-2.7001940024603096e-18,1.1583256617632517e-14],"object_angular_velocity_rad_s":[1.2072911155365428e-16,-2.1089149339959278e-16,-3.2215110994492403e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313537162039288,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5449369658900518,-1.5656933389046737,1.5293816352657466,-1.5603724009283924,-1.5708137527945383,0.02585430668488875,0.0],"actuator_force":[-0.07140027901505164,-22.2101084259848,-22.1574772752233,-2.286708609449647,-0.000977405084995553,-0.0011791296183059075,-0.2944646685825946],"issued_joint_targets_rad":[-1.5449175139152753,-1.5548760713695613,1.5442140498612453,-1.5599000296627326,-1.570815015813048,0.025878220901294654],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.0199999999998886,"joint_targets_rad":[-1.5449175139152753,-1.5548760713695613,1.5442140498612453,-1.5599000296627326,-1.570815015813048,0.025878220901294654],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0399999999998863,"qpos":[-1.545140721476959,-1.5530343984482229,1.5008177983460491,-1.518439298855134,-1.5708157399721727,0.02564451671282821,0.0029341534893957324,0.00015651325800916606,0.0031931640187483922,-0.0034303753455570095,0.0029341191682653693,0.0001561508293765434,0.003196241479784987,-0.0034393219617105744,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.9048210289625177e-18,-2.9053349136531632e-18,-2.0826681466798487e-08],"qvel":[0.0013139055268479676,-0.007920606249551402,0.22011022066819214,-0.2085387772809568,2.051577456684703e-05,0.0011802600208151441,0.00010779113324249829,3.094532222957359e-05,1.4089617925490168e-07,-0.0002397736275332199,0.0001025119213570822,4.723165402398103e-06,-8.40389001007338e-05,-0.00023807746945683298,4.1968187539924154e-18,-1.0291462139146157e-18,1.149721433322407e-14,2.1542544667262588e-16,-1.7622370130828026e-16,-1.2949463759115564e-08],"joint_position_rad":[-1.545140721476959,-1.5530343984482229,1.5008177983460491,-1.518439298855134,-1.5708157399721727,0.02564451671282821],"joint_velocity_rad_s":[0.0013139055268479676,-0.007920606249551402,0.22011022066819214,-0.2085387772809568,2.051577456684703e-05,0.0011802600208151441],"linkage_position_rad":[0.0029341534893957324,0.00015651325800916606,0.0031931640187483922,-0.0034303753455570095,0.0029341191682653693,0.0001561508293765434,0.003196241479784987,-0.0034393219617105744],"tcp_position_m":[-0.1467511218784326,0.4953766594078921,0.35257852759854513],"tcp_quaternion_wxyz":[5.759106446913531e-05,0.7071028585035055,0.7071107002951929,-4.132168365098694e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.9048210289625177e-18,-2.9053349136531632e-18,-2.0826681466798487e-08],"object_linear_velocity_m_s":[4.1968187539924154e-18,-1.0291462139146157e-18,1.149721433322407e-14],"object_angular_velocity_rad_s":[2.1542543940756106e-16,-1.7622371035670624e-16,-1.2949463759115569e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313536906729065,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5449130573005603,-1.565724552828016,1.533759759223922,-1.5647203968081977,-1.5708136005242437,0.02587821801274226,0.0],"actuator_force":[-0.0702338579417301,-22.21206625976538,-22.160166511531315,-2.286671248436278,-0.0009818534921350874,-0.0011753521244894927,-0.294465148156053],"issued_joint_targets_rad":[-1.5448937073812774,-1.5548915114830253,1.548576347030475,-1.5642477198902398,-1.5708148648086788,0.025902029270969833],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.0399999999998863,"joint_targets_rad":[-1.5448937073812774,-1.5548915114830253,1.548576347030475,-1.5642477198902398,-1.5708148648086788,0.025902029270969833],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.059999999999884,"qpos":[-1.5451160902105643,-1.553214352295067,1.5053557018723775,-1.5227896302168467,-1.570815659496206,0.025669088936576177,0.0029341549629302173,0.00015651229319540858,0.0031931735047460406,-0.0034303752282206657,0.002934120891289913,0.00015615274514204773,0.0031962621374196118,-0.003439318943680021,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.642071482731662e-18,-1.7059795206407648e-18,-2.118456137841479e-08],"qvel":[0.001306844358735269,-0.007083181112257043,0.21922781505679498,-0.20852601944430582,2.0913312693468677e-05,0.0011764017756722238,0.00010779491234163057,3.087181950669456e-05,8.672615946982176e-07,-0.00023962595388739934,0.0001025722162465715,4.928268519397907e-06,-8.229635612548574e-05,-0.00023782514046309693,2.660981059560446e-19,-1.0414250309551412e-17,1.1473622093950781e-14,5.495430063243906e-17,-6.430185169979702e-19,-5.2052780968947576e-08],"joint_position_rad":[-1.5451160902105643,-1.553214352295067,1.5053557018723775,-1.5227896302168467,-1.570815659496206,0.025669088936576177],"joint_velocity_rad_s":[0.001306844358735269,-0.007083181112257043,0.21922781505679498,-0.20852601944430582,2.0913312693468677e-05,0.0011764017756722238],"linkage_position_rad":[0.0029341549629302173,0.00015651229319540858,0.0031931735047460406,-0.0034303752282206657,0.002934120891289913,0.00015615274514204773,0.0031962621374196118,-0.003439318943680021],"tcp_position_m":[-0.14676352460350123,0.49538006878385954,0.35087294077470443],"tcp_quaternion_wxyz":[6.03261093020409e-05,0.7071028374106498,0.7071107209998675,-4.397288812064945e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.642071482731662e-18,-1.7059795206407648e-18,-2.118456137841479e-08],"object_linear_velocity_m_s":[2.660981059560446e-19,-1.0414250309551412e-17,1.1473622093950781e-14],"object_angular_velocity_rad_s":[5.495430078279685e-17,-6.430210163122576e-19,-5.2052780968947596e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313536656779582,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5448892516721935,-1.565738202431901,1.5381200196487532,-1.5690681039036087,-1.5708134492402301,0.025902026371679068,0.0],"actuator_force":[-0.06906066675219336,-22.21442782876511,-22.162490469966542,-2.2866348989504104,-0.0009862032813998667,-0.0011714600157777255,-0.2944656283539476],"issued_joint_targets_rad":[-1.544870008143563,-1.5548891818699642,1.5529206730044642,-1.568595202134814,-1.5708147148184104,0.025925730412635684],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.059999999999884,"joint_targets_rad":[-1.544870008143563,-1.5548891818699642,1.5529206730044642,-1.568595202134814,-1.5708147148184104,0.025925730412635684],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.079999999999882,"qpos":[-1.5450915467505317,-1.553376919099752,1.5098753028143963,-1.5271396954102698,-1.570815572033597,0.0256935781613601,0.0029341560822235637,0.00015651132765224504,0.0031931825595660377,-0.0034303747993882157,0.0029341222598245906,0.0001561546588280153,0.0031962823579897402,-0.0034393156130662537,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.8065007077493267e-18,-1.6158628381012288e-18,-2.1381929731597768e-08],"qvel":[0.0012996699568665984,-0.006243791909721548,0.2183470352547609,-0.20851355625001863,2.1270029218215617e-05,0.0011724211571073723,0.00010780234046282226,3.079811642139612e-05,1.5894202142285983e-06,-0.00023948329347925836,0.00010263605494439898,5.132602243599065e-06,-8.056019533630875e-05,-0.0002375782179828249,9.220024057868524e-19,-2.755950434161023e-18,1.1466683200046872e-14,-4.5640085031784387e-17,-1.4793434807703511e-16,-5.633018237869954e-09],"joint_position_rad":[-1.5450915467505317,-1.553376919099752,1.5098753028143963,-1.5271396954102698,-1.570815572033597,0.0256935781613601],"joint_velocity_rad_s":[0.0012996699568665984,-0.006243791909721548,0.2183470352547609,-0.20851355625001863,2.1270029218215617e-05,0.0011724211571073723],"linkage_position_rad":[0.0029341560822235637,0.00015651132765224504,0.0031931825595660377,-0.0034303747993882157,0.0029341222598245906,0.0001561546588280153,0.0031962823579897402,-0.0034393156130662537],"tcp_position_m":[-0.14677588850665776,0.4953835930749522,0.3491672788601685],"tcp_quaternion_wxyz":[6.28234626725312e-05,0.7071028180276883,0.7071107400098559,-4.640288329788254e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.8065007077493267e-18,-1.6158628381012288e-18,-2.1381929731597768e-08],"object_linear_velocity_m_s":[9.220024057868524e-19,-2.755950434161023e-18,1.1466683200046872e-14],"object_angular_velocity_rad_s":[-4.564009133982367e-17,-1.4793434614564095e-16,-5.633018237869956e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313536411518747,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5448655532656874,-1.565734274156676,1.5424624850688375,-1.573415604755839,-1.5708132989466483,0.025925727503531063,0.0],"actuator_force":[-0.0678810130580132,-22.217193349959416,-22.1644495930218,-2.286599047782829,-0.000990459447507419,-0.0011674446252563087,-0.2944661090794438],"issued_joint_targets_rad":[-1.5448464208259538,-1.5548690652047803,1.5572470922889443,-1.5729425579870393,-1.5708145658409842,0.02594931970672537],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.079999999999882,"joint_targets_rad":[-1.5448464208259538,-1.5548690652047803,1.5572470922889443,-1.5729425579870393,-1.5708145658409842,0.02594931970672537],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0999999999998797,"qpos":[-1.5450670934878932,-1.5535220602039763,1.5143766383496975,-1.531489506662934,-1.5708154783435782,0.02571798164343626,0.002934156913246173,0.00015651036163880232,0.003193191247218714,-0.003430374122086502,0.0029341233397026842,0.00015615656982403522,0.0031963022025931396,-0.0034393120331159465,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.0832285079870951e-17,5.6006622040091235e-18,-2.1806121928532015e-08],"qvel":[0.001292371776114841,-0.005402548787277433,0.21746801854301653,-0.20850173807171665,2.1589755848063896e-05,0.0011683086904701134,0.00010781274256990841,3.072419155306139e-05,2.3068224557674202e-06,-0.00023934495609288252,0.00010270277507048222,5.336205399224932e-06,-7.883076043184869e-05,-0.00023733601147514252,-5.8366664935807454e-18,1.0661645926595255e-17,1.1533296581524383e-14,6.421499117202116e-16,3.5470307930504013e-16,-2.2642965761692785e-08],"joint_position_rad":[-1.5450670934878932,-1.5535220602039763,1.5143766383496975,-1.531489506662934,-1.5708154783435782,0.02571798164343626],"joint_velocity_rad_s":[0.001292371776114841,-0.005402548787277433,0.21746801854301653,-0.20850173807171665,2.1589755848063896e-05,0.0011683086904701134],"linkage_position_rad":[0.002934156913246173,0.00015651036163880232,0.003193191247218714,-0.003430374122086502,0.0029341233397026842,0.00015615656982403522,0.0031963022025931396,-0.0034393120331159465],"tcp_position_m":[-0.14678821233396713,0.49538723722911704,0.3474615417115864],"tcp_quaternion_wxyz":[6.510642894952414e-05,0.7071028002302588,0.7071107574506839,-4.863331531119906e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.0832285079870951e-17,5.6006622040091235e-18,-2.1806121928532015e-08],"object_linear_velocity_m_s":[-5.8366664935807454e-18,1.0661645926595255e-17,1.1533296581524383e-14],"object_angular_velocity_rad_s":[6.421499269359773e-16,3.547030517899916e-16,-2.2642965761692795e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313536170398698,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5448419667040543,-1.5657127515549014,1.5467872199448138,-1.5777629807428473,-1.5708131496447917,0.0259493167886361,0.0],"actuator_force":[-0.06669514276836708,-22.220363186939267,-22.16604422697401,-2.2865632327849426,-0.0009946261916411459,-0.0011632964470909002,-0.2944665902356448],"issued_joint_targets_rad":[-1.544822950471005,-1.5548311411016873,1.5615556651157236,-1.5772898678693388,-1.5708144178728314,0.02597279211548257],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.0999999999998797,"joint_targets_rad":[-1.544822950471005,-1.5548311411016873,1.5615556651157236,-1.5772898678693388,-1.5708144178728314,0.02597279211548257],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1199999999998775,"qpos":[-1.5450427330379037,-1.5536497387842783,1.5188597479040489,-1.5358390827476305,-1.5708153791112667,0.025742296421110478,0.002934157510000237,0.00015650939537901673,0.0031931996200335196,-0.00343037324794728,0.0029341241848022514,0.00015615847760414101,0.003196321721082686,-0.0034393082555814656,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.1551364993065019e-17,6.810501819026654e-18,-2.204106329884001e-08],"qvel":[0.0012849381492964001,-0.004559536818766094,0.21659086937119781,-0.20849087636756353,2.1875958971027885e-05,0.0011640538897569471,0.00010782556256491119,3.0650022333820184e-05,3.0190413060491067e-06,-0.00023921036153442906,0.00010277183378941081,5.539117791269844e-06,-7.71082653782595e-05,-0.00023709794318510852,-1.2937677399468016e-17,2.2464285536938907e-17,1.1591583290317206e-14,6.050759567562617e-16,1.53807895105566e-16,-9.10176173473526e-08],"joint_position_rad":[-1.5450427330379037,-1.5536497387842783,1.5188597479040489,-1.5358390827476305,-1.5708153791112667,0.025742296421110478],"joint_velocity_rad_s":[0.0012849381492964001,-0.004559536818766094,0.21659086937119781,-0.20849087636756353,2.1875958971027885e-05,0.0011640538897569471],"linkage_position_rad":[0.002934157510000237,0.00015650939537901673,0.0031931996200335196,-0.00343037324794728,0.0029341241848022514,0.00015615847760414101,0.003196321721082686,-0.0034393082555814656],"tcp_position_m":[-0.14680049475030515,0.49539100663773344,0.3457557292198269],"tcp_quaternion_wxyz":[6.719606611187166e-05,0.7071027838959355,0.707110773445338,-5.068374337240585e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.1551364993065019e-17,6.810501819026654e-18,-2.204106329884001e-08],"object_linear_velocity_m_s":[-1.2937677399468016e-17,2.2464285536938907e-17,1.1591583290317206e-14],"object_angular_velocity_rad_s":[6.050759622966893e-16,1.5380787053528647e-16,-9.101761734735264e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313535932972836,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544818497029322,-1.565673615074861,1.5510942844663678,-1.5821103120956082,-1.5708130013333916,0.025972789189151864,0.0],"actuator_force":[-0.0655032425547688,-22.223937853658754,-22.167274623841422,-2.2865270372324176,-0.0009987069596490983,-0.0011590049550012083,-0.294467071721896],"issued_joint_targets_rad":[-1.544799602607065,-1.554775385838518,1.565846447185307,-1.581637211050944,-1.5708142709083002,0.02599614211600571],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.1199999999998775,"joint_targets_rad":[-1.544799602607065,-1.554775385838518,1.565846447185307,-1.581637211050944,-1.5708142709083002,0.02599614211600571],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1399999999998753,"qpos":[-1.5450184682654458,-1.553759919354752,1.5233246725068705,-1.540188448244092,-1.570815274954414,0.025766519289437684,0.0029341579166838176,0.00015650842906450498,0.0031932077207807107,-0.003430372219266995,0.0029341248392079303,0.00015616038171672263,0.0031963409541442478,-0.0034393043227781144,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.0538577017203107e-17,5.678337368876174e-18,-2.2386174490059582e-08],"qvel":[0.0012773560829508002,-0.003714817146411708,0.21571566129890368,-0.20848124748839544,2.213177242745622e-05,0.0011596450472143155,0.00010784034137519407,3.057558472015115e-05,3.725752118526337e-06,-0.00023907901578142993,0.00010284278609287855,5.741380868332193e-06,-7.539281281843212e-05,-0.00023686352474973967,-6.923311802005005e-18,1.2402498415173015e-17,1.1608236635686587e-14,-5.355095105489764e-16,-2.547923794128357e-16,-9.849692733822545e-09],"joint_position_rad":[-1.5450184682654458,-1.553759919354752,1.5233246725068705,-1.540188448244092,-1.570815274954414,0.025766519289437684],"joint_velocity_rad_s":[0.0012773560829508002,-0.003714817146411708,0.21571566129890368,-0.20848124748839544,2.213177242745622e-05,0.0011596450472143155],"linkage_position_rad":[0.0029341579166838176,0.00015650842906450498,0.0031932077207807107,-0.003430372219266995,0.0029341248392079303,0.00015616038171672263,0.0031963409541442478,-0.0034393043227781144],"tcp_position_m":[-0.14681273432650402,0.49539490719424417,0.3440498413064802],"tcp_quaternion_wxyz":[6.911140209423188e-05,0.7071027689043371,0.7071107881143056,-5.257184114661103e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.0538577017203107e-17,5.678337368876174e-18,-2.2386174490059582e-08],"object_linear_velocity_m_s":[-6.923311802005005e-18,1.2402498415173015e-17,1.1608236635686587e-14],"object_angular_velocity_rad_s":[-5.355095220684892e-16,-2.5479235522921336e-16,-9.84969273382255e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313535698877046,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544795149769562,-1.5656168417943181,1.5553837342955925,-1.5864576779109993,-1.570812854008868,0.02599613918209919,0.0],"actuator_force":[-0.06430544141267092,-22.227918020567813,-22.168140942117134,-2.286490084614229,-0.0010027044697835663,-0.0011545583906773516,-0.2944675534319277],"issued_joint_targets_rad":[-1.544776383328243,-1.554701772019363,1.570119489343902,-1.5859846656590288,-1.5708141249398535,0.026019363620408974],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.1399999999998753,"joint_targets_rad":[-1.544776383328243,-1.554701772019363,1.570119489343902,-1.5859846656590288,-1.5708141249398535,0.026019363620408974],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.159999999999873,"qpos":[-1.5449943023151083,-1.5538525672864965,1.5277714541781493,-1.5445376328723697,-1.5708151664294916,0.02579064676975364,0.0029341581694633774,0.00015650746285684377,0.003193215584403678,-0.0034303710706960486,0.002934125338981256,0.00015616228177496106,0.0031963599349897746,-0.0034393002692786785,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,6.827774229978606e-19,-1.7959372199754346e-17,-2.275766598231193e-08],"qvel":[0.0012696110095088624,-0.002868427722858809,0.21484243844784032,-0.208473096105604,2.2360027073341544e-05,0.0011550689839725594,0.00010785669867525016,3.050085271906344e-05,4.426716448890666e-06,-0.00023895049314894665,0.00010291526674036494,5.94303812078492e-06,-7.36844079325828e-05,-0.00023663234113655726,3.752664936567385e-17,-6.694842856983704e-18,1.1569378829824705e-14,-7.786444718282979e-16,-2.3733420111565005e-15,-3.959267410777147e-08],"joint_position_rad":[-1.5449943023151083,-1.5538525672864965,1.5277714541781493,-1.5445376328723697,-1.5708151664294916,0.02579064676975364],"joint_velocity_rad_s":[0.0012696110095088624,-0.002868427722858809,0.21484243844784032,-0.208473096105604,2.2360027073341544e-05,0.0011550689839725594],"linkage_position_rad":[0.0029341581694633774,0.00015650746285684377,0.003193215584403678,-0.0034303710706960486,0.002934125338981256,0.00015616228177496106,0.0031963599349897746,-0.0034393002692786785],"tcp_position_m":[-0.1468249295245861,0.4953989453625837,0.34234387792083637],"tcp_quaternion_wxyz":[7.086963027499206e-05,0.7071027551370478,0.7071108015757689,-5.431357870409876e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,6.827774229978606e-19,-1.7959372199754346e-17,-2.275766598231193e-08],"object_linear_velocity_m_s":[3.752664936567385e-17,-6.694842856983704e-18,1.1569378829824705e-14],"object_angular_velocity_rad_s":[-7.786445784296279e-16,-2.373341975662172e-15,-3.959267410777149e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.093135354678144,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544771931018828,-1.5655424050928193,1.559655620244642,-1.5908051561610557,-1.570812707665546,0.0260193606795223,0.0],"actuator_force":[-0.06310181124263181,-22.23230452350208,-22.168643246150623,-2.286452033782666,-0.0010066207345289513,-0.0011499435129245228,-0.29446803524930976],"issued_joint_targets_rad":[-1.5447532993907191,-1.5546102681605483,1.5743748371790183,-1.5903323086856842,-1.5708139799582246,0.026042449879658387],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.159999999999873,"joint_targets_rad":[-1.5447532993907191,-1.5546102681605483,1.5743748371790183,-1.5903323086856842,-1.5708139799582246,0.026042449879658387],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.179999999999871,"qpos":[-1.544970238646971,-1.5539276483350104,1.5322001353361807,-1.5488866708906166,-1.5708150540371635,0.02581467507298507,0.002934158297925912,0.00015650649688945379,0.0031932232394321822,-0.0034303698306329695,0.0029341257136104833,0.00015616417744847676,0.003196378690737778,-0.003439296123300693,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.6141269185798222e-18,-2.0032050408569758e-17,-2.290778939053911e-08],"qvel":[0.001261686483543374,-0.002020383621508572,0.21397121643837153,-0.20846663829426168,2.2563277375605144e-05,0.001150310749649126,0.00010787431789547256,3.042579784893006e-05,5.121768674919647e-06,-0.00023882442187012827,0.00010298897555402134,6.144135826627849e-06,-7.198296685460123e-05,-0.00023640403327212617,2.27108165099988e-17,-2.5774003150231048e-18,1.1598522184221118e-14,-3.5432897224515066e-17,5.753882630049348e-16,-4.284617482170088e-09],"joint_position_rad":[-1.544970238646971,-1.5539276483350104,1.5322001353361807,-1.5488866708906166,-1.5708150540371635,0.02581467507298507],"joint_velocity_rad_s":[0.001261686483543374,-0.002020383621508572,0.21397121643837153,-0.20846663829426168,2.2563277375605144e-05,0.001150310749649126],"linkage_position_rad":[0.002934158297925912,0.00015650649688945379,0.0031932232394321822,-0.0034303698306329695,0.0029341257136104833,0.00015616417744847676,0.003196378690737778,-0.003439296123300693],"tcp_position_m":[-0.14683707868062865,0.4954031282576959,0.3406378390373404],"tcp_quaternion_wxyz":[7.248628610013414e-05,0.70710274247734,0.7071108139459734,-5.592338692538377e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.6141269185798222e-18,-2.0032050408569758e-17,-2.290778939053911e-08],"object_linear_velocity_m_s":[2.27108165099988e-17,-2.5774003150231048e-18,1.1598522184221118e-14],"object_angular_velocity_rad_s":[-3.543287069110941e-17,5.753882646059121e-16,-4.284617482170089e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313535239542767,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544748847533441,-1.5654502742472274,1.563909987871895,-1.595152823698242,-1.570812562295832,0.026042446932324093,0.0],"actuator_force":[-0.06189236635736961,-22.237098375830556,-22.168781503919945,-2.2864125743865316,-0.001010457071856763,-0.0011451452954016617,-0.2944685170440672],"issued_joint_targets_rad":[-1.5447303583299197,-1.5545008381794503,1.5786125305126053,-1.5946802159902096,-1.5708138359525392,0.026065393366582777],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.179999999999871,"joint_targets_rad":[-1.5447303583299197,-1.5545008381794503,1.5786125305126053,-1.5946802159902096,-1.5708138359525392,0.026065393366582777],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1999999999998687,"qpos":[-1.5449462810794365,-1.5539851281657249,1.536610758214612,-1.5532356005506114,-1.5708149382271825,0.025838600055359543,0.0029341583262684186,0.0001565055312700351,0.003193230709133656,-0.0034303685223566528,0.002934125987197518,0.0001561660684544552,0.0031963972435328563,-0.003439291907824965,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-4.290088445846459e-18,-1.3883932698149522e-17,-2.3379958648601875e-08],"qvel":[0.0012535638058158345,-0.0011706768610091054,0.21310198276207298,-0.20846206430294345,2.2743825250106934e-05,0.0011453532551552294,0.0001078929336372298,3.0350388481538976e-05,5.810806770186898e-06,-0.00023870046799118465,0.00010306366517080908,6.344723796460222e-06,-7.028832187691714e-05,-0.00023617828623478528,1.7330962436376188e-17,-5.719208220311633e-18,1.1567991051043922e-14,1.149519880018012e-16,5.995064606607e-16,-1.7222817831212403e-08],"joint_position_rad":[-1.5449462810794365,-1.5539851281657249,1.536610758214612,-1.5532356005506114,-1.5708149382271825,0.025838600055359543],"joint_velocity_rad_s":[0.0012535638058158345,-0.0011706768610091054,0.21310198276207298,-0.20846206430294345,2.2743825250106934e-05,0.0011453532551552294],"linkage_position_rad":[0.0029341583262684186,0.0001565055312700351,0.003193230709133656,-0.0034303685223566528,0.002934125987197518,0.0001561660684544552,0.0031963972435328563,-0.003439291907824965],"tcp_position_m":[-0.1468491799846559,0.4954074637410795,0.33893172465352817],"tcp_quaternion_wxyz":[7.397540664342803e-05,0.7071027308096955,0.707110825339782,-5.74143060522896e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-4.290088445846459e-18,-1.3883932698149522e-17,-2.3379958648601875e-08],"object_linear_velocity_m_s":[1.7330962436376188e-17,-5.719208220311633e-18,1.1567991051043922e-14],"object_angular_velocity_rad_s":[1.1495201651291455e-16,5.995064551377794e-16,-1.722281783121241e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313535013864797,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544725906849143,-1.5653404139301816,1.5681468769755806,-1.5995007562562058,-1.5708124178903498,0.026065390413276508,0.0],"actuator_force":[-0.06067706173917031,-22.242300784510007,-22.168555582891713,-2.286371422502725,-0.0010142141086362244,-0.0011401465570397562,-0.29446899866733706],"issued_joint_targets_rad":[-1.5447075686046208,-1.5543734407587135,1.5828326027635065,-1.5990284622959545,-1.5708136929104028,0.026088185631997142],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.1999999999998687,"joint_targets_rad":[-1.5447075686046208,-1.5543734407587135,1.5828326027635065,-1.5990284622959545,-1.5708136929104028,0.026088185631997142],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2199999999998665,"qpos":[-1.5449224338408478,-1.5540249718662689,1.5410033642757397,-1.5575844636049094,-1.5708148194027551,0.025862417164694233,0.002934158274271967,0.00015650456608228052,0.003193238012451629,-0.0034303671649719442,0.002934126179429186,0.00015616795454971206,0.0031964156114545972,-0.0034392876415307487,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.3545972351369744e-17,-2.2311120403206815e-18,-2.365822744364236e-08],"qvel":[0.0012452215529612331,-0.0003192756626603558,0.21223469651333465,-0.20845954103779948,2.2903741317788203e-05,0.0011401768172810437,0.0001079123211467274,3.0274588993257025e-05,6.4937852293757354e-06,-0.0002385783240787587,0.00010313913096486794,6.544856461589502e-06,-6.860022269046377e-05,-0.0002359548173516911,-1.6572399346176708e-17,-5.3022900649231014e-17,1.1491663218100938e-14,-3.064579555579916e-15,2.2206592915173584e-15,-6.92303234259257e-08],"joint_position_rad":[-1.5449224338408478,-1.5540249718662689,1.5410033642757397,-1.5575844636049094,-1.5708148194027551,0.025862417164694233],"joint_velocity_rad_s":[0.0012452215529612331,-0.0003192756626603558,0.21223469651333465,-0.20845954103779948,2.2903741317788203e-05,0.0011401768172810437],"linkage_position_rad":[0.002934158274271967,0.00015650456608228052,0.003193238012451629,-0.0034303671649719442,0.002934126179429186,0.00015616795454971206,0.0031964156114545972,-0.0034392876415307487],"tcp_position_m":[-0.14686123145677416,0.4954119605351681,0.33722553478845685],"tcp_quaternion_wxyz":[7.534967474219118e-05,0.7071027200190919,0.7071108358714416,-5.879811991046704e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.3545972351369744e-17,-2.2311120403206815e-18,-2.365822744364236e-08],"object_linear_velocity_m_s":[-1.6572399346176708e-17,-5.3022900649231014e-17,1.1491663218100938e-14],"object_angular_velocity_rad_s":[-3.064579450197268e-15,2.2206594346468133e-15,-6.923032342592574e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313534790619829,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5447031174251804,-1.565212783584278,1.5723663209566603,-1.6038490284452258,-1.570812274438043,0.02608818267314324,0.0],"actuator_force":[-0.05945578984983513,-22.24791317095378,-22.167965243492745,-2.286328316378217,-0.0010178917757457384,-0.0011349275035996698,-0.2944694799456156],"issued_joint_targets_rad":[-1.5446849397761997,-1.554228028548654,1.587035080140876,-1.603377121180647,-1.5708135508179424,0.02611081712573757],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.2199999999998665,"joint_targets_rad":[-1.5446849397761997,-1.554228028548654,1.587035080140876,-1.603377121180647,-1.5708135508179424,0.02611081712573757],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2399999999998643,"qpos":[-1.5448987016321887,-1.5540471434317553,1.5453779936047083,-1.5619333048599662,-1.5708146979243895,0.025886121374841486,0.002934158158099395,0.00015650360138744722,0.0031932451647617636,-0.0034303657741718532,0.0029341263063716334,0.00015616983552199198,0.003196433809246601,-0.0034392833395434203,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.996046046093977e-17,6.49657971501549e-18,-2.3920727826341417e-08],"qvel":[0.0012366349823805692,0.0005338769784185716,0.2113692873633783,-0.20845921428486622,2.3044883733706505e-05,0.0011347585858725653,0.00010793228727310188,3.0198358657620223e-05,7.170710293033906e-06,-0.00023845769735379507,0.00010321520256834745,6.7445940907045494e-06,-6.691833293877609e-05,-0.0002357333658813972,-5.3314243373765874e-18,-2.1725843508833897e-17,1.144586651833515e-14,4.518441638784096e-16,5.007690442339345e-16,-7.491927755109143e-09],"joint_position_rad":[-1.5448987016321887,-1.5540471434317553,1.5453779936047083,-1.5619333048599662,-1.5708146979243895,0.025886121374841486],"joint_velocity_rad_s":[0.0012366349823805692,0.0005338769784185716,0.2113692873633783,-0.20845921428486622,2.3044883733706505e-05,0.0011347585858725653],"linkage_position_rad":[0.002934158158099395,0.00015650360138744722,0.0031932451647617636,-0.0034303657741718532,0.0029341263063716334,0.00015616983552199198,0.003196433809246601,-0.0034392833395434203],"tcp_position_m":[-0.14687323091853913,0.49541662836156747,0.3355192694816882],"tcp_quaternion_wxyz":[7.662054916267692e-05,0.7071027099900142,0.7071108456556188,-6.008547718455679e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.996046046093977e-17,6.49657971501549e-18,-2.3920727826341417e-08],"object_linear_velocity_m_s":[-5.3314243373765874e-18,-2.1725843508833897e-17,1.144586651833515e-14],"object_angular_velocity_rad_s":[4.518441877385855e-16,5.00769022317967e-16,-7.491927755109148e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313534569677422,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5446804888235393,-1.565067336635031,1.5765683460126163,-1.6081977137412766,-1.5708121319262303,0.02611081416171417,0.0],"actuator_force":[-0.05822837565347072,-22.25393719791873,-22.167010129535356,-2.28628301216861,-0.0010214892937483455,-0.0011294651509139442,-0.29446996067275866],"issued_joint_targets_rad":[-1.5446624827343634,-1.554064547156635,1.5912199806156782,-1.607726265058651,-1.5708134096598045,0.0261332769713003],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.2399999999998643,"joint_targets_rad":[-1.5446624827343634,-1.554064547156635,1.5912199806156782,-1.607726265058651,-1.5708134096598045,0.0261332769713003],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.259999999999862,"qpos":[-1.544875089703932,-1.554051605206,1.5497346842658528,-1.5662821717699484,-1.5708145741132382,0.025909707105031494,0.0029341579909484953,0.00015650263722634394,0.003193252178480459,-0.003430364362882148,0.002934126381119459,0.00015617171118078799,0.003196451848900955,-0.0034392790140460633,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.7364532058773264e-17,-1.6363082199788113e-17,-2.435324456291498e-08],"qvel":[0.0012277752699175123,0.0013888655813821807,0.2105056536038283,-0.208461210690587,2.316891463102217e-05,0.0011290718129507876,0.00010795266265099809,3.012165022216133e-05,7.841638488445376e-06,-0.00023833829767602515,0.00010329173680921767,6.944004657671877e-06,-6.524222237657514e-05,-0.00023551368258063394,2.4985896606669597e-17,-3.641505212833796e-17,1.1405620933692487e-14,-2.350977344443538e-16,-1.3663761721916114e-15,-3.0115198723763785e-08],"joint_position_rad":[-1.544875089703932,-1.554051605206,1.5497346842658528,-1.5662821717699484,-1.5708145741132382,0.025909707105031494],"joint_velocity_rad_s":[0.0012277752699175123,0.0013888655813821807,0.2105056536038283,-0.208461210690587,2.316891463102217e-05,0.0011290718129507876],"linkage_position_rad":[0.0029341579909484953,0.00015650263722634394,0.003193252178480459,-0.003430364362882148,0.002934126381119459,0.00015617171118078799,0.003196451848900955,-0.0034392790140460633],"tcp_position_m":[-0.14688517595819267,0.49542147810983655,0.3338129287928959],"tcp_quaternion_wxyz":[7.779838210570412e-05,0.7071027006051244,0.7071108548087611,-6.12860009878633e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.7364532058773264e-17,-1.6363082199788113e-17,-2.435324456291498e-08],"object_linear_velocity_m_s":[2.4985896606669597e-17,-3.641505212833796e-17,1.1405620933692487e-14],"object_angular_velocity_rad_s":[-2.3509780001018495e-16,-1.3663761623890022e-15,-3.0115198723763805e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313534350932352,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5446580319346597,-1.5649040194917545,1.5807529701092788,-1.6125468844671393,-1.5708119903406124,0.026133274002443894,0.0],"actuator_force":[-0.05699456942238612,-22.26037480406194,-22.165689754679534,-2.286235279536754,-0.0010250051501543567,-0.0011237325888782124,-0.2944704406006988],"issued_joint_targets_rad":[-1.5446402099852328,-1.5538829338517501,1.5953873125962432,-1.612075965152951,-1.5708132694190988,0.026155552678231074],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.259999999999862,"joint_targets_rad":[-1.5446402099852328,-1.5538829338517501,1.5953873125962432,-1.612075965152951,-1.5708132694190988,0.026155552678231074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.27999999999986,"qpos":[-1.5448516039511866,-1.5540383172566743,1.5540734715973719,-1.5706311140661853,-1.5708144482539341,0.0259331681196665,0.0029341577835867907,0.00015650167362097193,0.0031932590635483063,-0.003430362941793231,0.002934126414325355,0.00015617358134683825,0.0031964697401118108,-0.0034392746747712215,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.053040492357567e-17,-1.4322619947221157e-17,-2.446743225984961e-08],"qvel":[0.0012186085200947814,0.002245805578812128,0.20964365900539975,-0.20846563951649658,2.327731424648023e-05,0.0011230849061518997,0.00010797329454143586,3.0044407942759826e-05,8.50667684323548e-06,-0.00023821982571952516,0.00010336861154168642,7.143165996245976e-06,-6.35713531610423e-05,-0.0002352955197286942,1.6710960491901534e-17,-2.4529052809304727e-17,1.1427825394184996e-14,8.842494224686908e-16,6.370866879572989e-16,-3.258989442835629e-09],"joint_position_rad":[-1.5448516039511866,-1.5540383172566743,1.5540734715973719,-1.5706311140661853,-1.5708144482539341,0.0259331681196665],"joint_velocity_rad_s":[0.0012186085200947814,0.002245805578812128,0.20964365900539975,-0.20846563951649658,2.327731424648023e-05,0.0011230849061518997],"linkage_position_rad":[0.0029341577835867907,0.00015650167362097193,0.0031932590635483063,-0.003430362941793231,0.002934126414325355,0.00015617358134683825,0.0031964697401118108,-0.0034392746747712215],"tcp_position_m":[-0.1468970638879384,0.49542652204586246,0.33210651280222947],"tcp_quaternion_wxyz":[7.889252522725363e-05,0.7071026917434847,0.7071108634509021,-6.240838784420688e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.053040492357567e-17,-1.4322619947221157e-17,-2.446743225984961e-08],"object_linear_velocity_m_s":[1.6710960491901534e-17,-2.4529052809304727e-17,1.1427825394184996e-14],"object_angular_velocity_rad_s":[8.842494537377956e-16,6.370866445528561e-16,-3.258989442835631e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313534134300794,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.54463575926551,-1.5647227702651447,1.5849202016566741,-1.6168966117633414,-1.5708118496652257,0.026155549704840672,0.0],"actuator_force":[-0.05575403668444778,-22.267228248465926,-22.16400348355546,-2.2861848969284893,-0.0010284370704312096,-0.001117698028101799,-0.2944709194260229],"issued_joint_targets_rad":[-1.5446181360244593,-1.5536831158827389,1.5995370732023386,-1.6164262914536702,-1.5708131300772714,0.026177629769634555],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.27999999999986,"joint_targets_rad":[-1.5446181360244593,-1.5536831158827389,1.5995370732023386,-1.6164262914536702,-1.5708131300772714,0.026177629769634555],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2999999999998577,"qpos":[-1.5448282510328433,-1.5540072366552111,1.5583943874130965,-1.5749801834173198,-1.5708143205968896,0.02595649740240916,0.0029341575447892182,0.00015650071057657909,0.0031932658278007045,-0.0034303615198025008,0.0029341264146309494,0.0001561754458388474,0.0031964874906187774,-0.0034392703294000918,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-5.7051445920180466e-18,1.5261396522779345e-17,-2.4926430971182668e-08],"qvel":[0.001209094461784649,0.0031048481964129518,0.208783128115293,-0.2084725941792748,2.3371392659834532e-05,0.001116760183285021,0.00010799404012974796,2.99665651197225e-05,9.165987434107522e-06,-0.0002381019577861888,0.00010344572029038435,7.342168950005588e-06,-6.19050576351605e-05,-0.00023507862121273975,-1.4386242587839458e-17,-7.796536143992418e-18,1.1427825394184997e-14,5.905946156734431e-16,5.473752678059468e-16,-1.310011493940416e-08],"joint_position_rad":[-1.5448282510328433,-1.5540072366552111,1.5583943874130965,-1.5749801834173198,-1.5708143205968896,0.02595649740240916],"joint_velocity_rad_s":[0.001209094461784649,0.0031048481964129518,0.208783128115293,-0.2084725941792748,2.3371392659834532e-05,0.001116760183285021],"linkage_position_rad":[0.0029341575447892182,0.00015650071057657909,0.0031932658278007045,-0.0034303615198025008,0.0029341264146309494,0.0001561754458388474,0.0031964874906187774,-0.0034392703294000918],"tcp_position_m":[-0.14690889169074262,0.49543177407227795,0.33040002161163545],"tcp_quaternion_wxyz":[7.991142520289945e-05,0.7071026832781742,0.7071108717080616,-6.346049708799986e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-5.7051445920180466e-18,1.5261396522779345e-17,-2.4926430971182668e-08],"object_linear_velocity_m_s":[-1.4386242587839458e-17,-7.796536143992418e-18,1.1427825394184997e-14],"object_angular_velocity_rad_s":[5.905946425618143e-16,5.473752382136385e-16,-1.3100114939404168e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313533919717532,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544613685312694,-1.5645235171000846,1.5890700377833644,-1.6212469655457216,-1.5708117098823218,0.02617762679197544,0.0],"actuator_force":[-0.05450634441467628,-22.274500168312443,-22.1619505055819,-2.286131646273475,-0.0010317819819647411,-0.0011113235453628079,-0.294471396773109],"issued_joint_targets_rad":[-1.5445962778284132,-1.5534650082607528,1.6036692459843085,-1.6207773126584366,-1.570812991613891,0.02619949129182377],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.2999999999998577,"joint_targets_rad":[-1.5445962778284132,-1.5534650082607528,1.6036692459843085,-1.6207773126584366,-1.570812991613891,0.02619949129182377],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3199999999998555,"qpos":[-1.5448050385227372,-1.553958316621586,1.5626974590689817,-1.579329433115145,-1.5708141913599973,0.025979686995884745,0.0029341572816968735,0.00015649974808420729,0.0031932724772418776,-0.0034303601044017333,0.0029341263890162476,0.00015617730445715303,0.0031965051064449072,-0.003439265983863081,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-7.033573692898693e-18,8.875080685887935e-18,-2.5288474378067174e-08],"qvel":[0.0011991847008950896,0.003966187363073089,0.20792383943055218,-0.20848215358136304,2.345229902432116e-05,0.0011100522052716272,0.0001080147596351645,2.9888040358628815e-05,9.819794746050366e-06,-0.0002379843300263039,0.00010352296723550233,7.541121651438568e-06,-6.024250619508751e-05,-0.0002348627077467595,1.506798140617372e-18,-2.1934854655407176e-17,1.1445866518335159e-14,-3.2689959139455203e-16,-1.0505612633773228e-15,-5.265835144168644e-08],"joint_position_rad":[-1.5448050385227372,-1.553958316621586,1.5626974590689817,-1.579329433115145,-1.5708141913599973,0.025979686995884745],"joint_velocity_rad_s":[0.0011991847008950896,0.003966187363073089,0.20792383943055218,-0.20848215358136304,2.345229902432116e-05,0.0011100522052716272],"linkage_position_rad":[0.0029341572816968735,0.00015649974808420729,0.0031932724772418776,-0.0034303601044017333,0.0029341263890162476,0.00015617730445715303,0.0031965051064449072,-0.003439265983863081],"tcp_position_m":[-0.1469206559531369,0.4954372500583762,0.32869345534745226],"tcp_quaternion_wxyz":[8.086270972775173e-05,0.7071026750730649,0.7071108797154855,-6.444943157454617e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-7.033573692898693e-18,8.875080685887935e-18,-2.5288474378067174e-08],"object_linear_velocity_m_s":[1.506798140617372e-18,-2.1934854655407176e-17,1.1445866518335159e-14],"object_angular_velocity_rad_s":[-3.2689964546342927e-16,-1.050561247584491e-15,-5.265835144168647e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313533707134412,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544591827053635,-1.5643061759761117,1.5932024620558436,-1.625598014444919,-1.5708115709721575,0.026199488310130886,0.0],"actuator_force":[-0.05325094215322679,-22.282193654280945,-22.15952979849726,-2.286075306750604,-0.0010350359825679334,-0.0011045634040929286,-0.29447187217000936],"issued_joint_targets_rad":[-1.5445746555127493,-1.553228510786356,1.6077837978590308,-1.6251290960875775,-1.5708128540063133,0.02622111715689894],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.3199999999998555,"joint_targets_rad":[-1.5445746555127493,-1.553228510786356,1.6077837978590308,-1.6251290960875775,-1.5708128540063133,0.02622111715689894],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3399999999998533,"qpos":[-1.5447819751042475,-1.5538915054779445,1.5669827083350565,-1.583678917780728,-1.5708140607296257,0.026002727794506936,0.002934157000110977,0.00015649878612442657,0.003193279016218856,-0.003430358702025268,0.002934126343080333,0.00015617915696016594,0.003196522592025376,-0.0034392616425795966,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-6.927617320459955e-18,4.685222630933933e-18,-2.548813887075924e-08],"qvel":[0.0011888203358666595,0.004830069484936059,0.20706551559115785,-0.20849438322931022,2.3521027998010693e-05,0.0011029055019946042,0.00010803530879578909,2.980873261958517e-05,1.046839910003047e-05,-0.00023786651529984678,0.00010360026232158736,7.7401555124546e-06,-5.8582659199982173e-05,-0.00023464746319371653,-4.653425846161678e-18,-7.372768588858784e-18,1.1431988730527346e-14,1.1033729482419089e-16,-3.2967394649537377e-16,-5.698551518775905e-09],"joint_position_rad":[-1.5447819751042475,-1.5538915054779445,1.5669827083350565,-1.583678917780728,-1.5708140607296257,0.026002727794506936],"joint_velocity_rad_s":[0.0011888203358666595,0.004830069484936059,0.20706551559115785,-0.20849438322931022,2.3521027998010693e-05,0.0011029055019946042],"linkage_position_rad":[0.002934157000110977,0.00015649878612442657,0.003193279016218856,-0.003430358702025268,0.002934126343080333,0.00015617915696016594,0.003196522592025376,-0.0034392616425795966],"tcp_position_m":[-0.14693235277899938,0.4954429682644588,0.32698681416476205],"tcp_quaternion_wxyz":[8.175326469833865e-05,0.7071026669783815,0.7071108876220962,-6.538161048848067e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-6.927617320459955e-18,4.685222630933933e-18,-2.548813887075924e-08],"object_linear_velocity_m_s":[-4.653425846161678e-18,-7.372768588858784e-18,1.1431988730527346e-14],"object_angular_velocity_rad_s":[1.1033727796524219e-16,-3.296739521989129e-16,-5.698551518775909e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313533496519986,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445702046051424,-1.5640706477560724,1.5973174414147575,-1.6299498257207548,-1.5708114329126617,0.02622111417138,0.0],"actuator_force":[-0.05198713613663131,-22.29031235023058,-22.156740077061386,-2.2860156470823085,-0.0010381943178572328,-0.0010973617629268517,-0.29447234501515235],"issued_joint_targets_rad":[-1.5445532932338117,-1.5529735039842274,1.6118806749144614,-1.6294817075633978,-1.5708127172291773,0.026242483242934444],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.3399999999998533,"joint_targets_rad":[-1.5445532932338117,-1.5529735039842274,1.6118806749144614,-1.6294817075633978,-1.5708127172291773,0.026242483242934444],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.359999999999851,"qpos":[-1.5447590708250918,-1.5538067453300362,1.5712501499873752,-1.5880286930846264,-1.5708139288607226,0.02602560927203574,0.0029341567047352565,0.00015649782467285446,0.0031932854474966323,-0.0034303573183617716,0.002934126281264457,0.00015618100303150433,0.0031965399502125293,-0.003439257308607981,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.0660224355032314e-18,8.30549203546001e-18,-2.591726602533536e-08],"qvel":[0.0011779286351619967,0.005696807377041865,0.20620780926127397,-0.20850933612532452,2.3578422943839653e-05,0.0010952514035081015,0.0001080555298054,2.9728513930769487e-05,1.1112197923124123e-05,-0.0002377479921923718,0.0001036775159988013,7.939433854057806e-06,-5.6924196130914616e-05,-0.00023443251119819965,-1.0722758487213715e-17,-5.419960550356765e-18,1.1443090960773597e-14,2.754574101274324e-16,1.6603528615129636e-16,-2.290638898759826e-08],"joint_position_rad":[-1.5447590708250918,-1.5538067453300362,1.5712501499873752,-1.5880286930846264,-1.5708139288607226,0.02602560927203574],"joint_velocity_rad_s":[0.0011779286351619967,0.005696807377041865,0.20620780926127397,-0.20850933612532452,2.3578422943839653e-05,0.0010952514035081015],"linkage_position_rad":[0.0029341567047352565,0.00015649782467285446,0.0031932854474966323,-0.0034303573183617716,0.002934126281264457,0.00015618100303150433,0.0031965399502125293,-0.003439257308607981],"tcp_position_m":[-0.14694397767695921,0.4954489498971277,0.32528009825428206],"tcp_quaternion_wxyz":[8.258930315140322e-05,0.7071026588244628,0.7071108955967363,-6.626283493060738e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.0660224355032314e-18,8.30549203546001e-18,-2.591726602533536e-08],"object_linear_velocity_m_s":[-1.0722758487213715e-17,-5.419960550356765e-18,1.1443090960773597e-14],"object_angular_velocity_rad_s":[2.754574183532959e-16,1.6603527177844007e-16,-2.2906388987598278e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313533287860451,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544548842124821,-1.563816814148093,1.6014149219797371,-1.6343024651407487,-1.5708112956789286,0.02624248025377272,0.0],"actuator_force":[-0.05071405352327929,-22.29886058693046,-22.15357971978574,-2.2859524155287545,-0.0010412513973960813,-0.0010896494823207092,-0.29447281452900664],"issued_joint_targets_rad":[-1.5445322204519079,-1.5526998434171138,1.6159597965358652,-1.6338352112366155,-1.5708125812536546,0.026263560132984816],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.359999999999851,"joint_targets_rad":[-1.5445322204519079,-1.5526998434171138,1.6159597965358652,-1.6338352112366155,-1.5708125812536546,0.026263560132984816],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.379999999999849,"qpos":[-1.5447363374374268,-1.5537039703556605,1.5754997899927132,-1.5923788154735112,-1.5708137958756894,0.026048319116053667,0.0029341563993770486,0.00015649686370917287,0.0031932917722055174,-0.003430355958694552,0.0029341262070239397,0.0001561828422294047,0.003196557182120324,-0.0034392529837424567,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-8.305458987018883e-19,-1.3523788697608717e-18,-2.615494065127412e-08],"qvel":[0.0011664182960777964,0.006566800415355557,0.20535028257170823,-0.2085270533990175,2.362517507829084e-05,0.001087003517097532,0.00010807523946479734,2.964721842821738e-05,1.1751717878177859e-05,-0.0002376281033969859,0.00010375463302918771,8.139164788733365e-06,-5.5265409224994007e-05,-0.00023421738746522754,4.132172086171502e-17,7.169016188529824e-18,1.1393130924665466e-14,-4.751731979384018e-16,-4.0669907354823996e-15,-9.207649605734624e-08],"joint_position_rad":[-1.5447363374374268,-1.5537039703556605,1.5754997899927132,-1.5923788154735112,-1.5708137958756894,0.026048319116053667],"joint_velocity_rad_s":[0.0011664182960777964,0.006566800415355557,0.20535028257170823,-0.2085270533990175,2.362517507829084e-05,0.001087003517097532],"linkage_position_rad":[0.0029341563993770486,0.00015649686370917287,0.0031932917722055174,-0.003430355958694552,0.0029341262070239397,0.0001561828422294047,0.003196557182120324,-0.0034392529837424567],"tcp_position_m":[-0.14695552541041268,0.49545521985034946,0.3235733078530437],"tcp_quaternion_wxyz":[8.337642628656265e-05,0.7071026504127788,0.7071109038371609,-6.709834683340915e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-8.305458987018883e-19,-1.3523788697608717e-18,-2.615494065127412e-08],"object_linear_velocity_m_s":[4.132172086171502e-17,7.169016188529824e-18,1.1393130924665466e-14],"object_angular_velocity_rad_s":[-4.751734104331595e-16,-4.066990710779091e-15,-9.207649605734631e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313533081162902,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544527769074359,-1.5635445320548793,1.6054948231759787,-1.6386559968058219,-1.57081115924246,0.026263557140341728,0.0],"actuator_force":[-0.049430592295721,-22.307843564579343,-22.150046662152363,-2.285885326253606,-0.0010442008931477176,-0.0010813395657223168,-0.29447327968251935],"issued_joint_targets_rad":[-1.5445114737505978,-1.5524073515209647,1.6200210469655636,-1.6381896693323856,-1.5708124460463275,0.026284311299128324],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.379999999999849,"joint_targets_rad":[-1.5445114737505978,-1.5524073515209647,1.6200210469655636,-1.6381896693323856,-1.5708124460463275,0.026284311299128324],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3999999999998467,"qpos":[-1.5447137888621663,-1.5535831045140929,1.5797316230900507,-1.596729341892734,-1.5708136618614954,0.02607084272598576,0.0029341560871192426,0.0001564959032333835,0.003193297989621216,-0.003430354628284204,0.0029341261229544925,0.0001561846739081132,0.003196574286733387,-0.0034392486685071405,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.6497688136917019e-18,-1.1675272590279553e-17,-2.6504066789309632e-08],"qvel":[0.001154172491017959,0.007440564307706954,0.20449237661439523,-0.20854756461579949,2.366181746335225e-05,0.0010780510904900207,0.00010809421248098635,2.9564625929043775e-05,1.238766690339221e-05,-0.00023750598689691187,0.00010383150440849894,8.339620703849268e-06,-5.360403855113349e-05,-0.00023400149262228136,1.3223276457025024e-17,-1.471324620363116e-18,1.1444478739554378e-14,1.3554250306837438e-16,2.381865356415882e-16,-9.964281867660055e-09],"joint_position_rad":[-1.5447137888621663,-1.5535831045140929,1.5797316230900507,-1.596729341892734,-1.5708136618614954,0.02607084272598576],"joint_velocity_rad_s":[0.001154172491017959,0.007440564307706954,0.20449237661439523,-0.20854756461579949,2.366181746335225e-05,0.0010780510904900207],"linkage_position_rad":[0.0029341560871192426,0.0001564959032333835,0.003193297989621216,-0.003430354628284204,0.0029341261229544925,0.0001561846739081132,0.003196574286733387,-0.0034392486685071405],"tcp_position_m":[-0.14696698979309403,0.4954618077171656,0.32186644326097325],"tcp_quaternion_wxyz":[8.411967657763255e-05,0.7071026415026125,0.7071109125833541,-6.789288158410057e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.6497688136917019e-18,-1.1675272590279553e-17,-2.6504066789309632e-08],"object_linear_velocity_m_s":[1.3223276457025024e-17,-1.471324620363116e-18,1.1444478739554378e-14],"object_angular_velocity_rad_s":[1.355425159268694e-16,2.381865284238554e-16,-9.964281867660062e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313532876461453,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445070220388453,-1.5632536254560712,1.6095570292944545,-1.6430104828955987,-1.5708110235700286,0.02628430830314579,0.0],"actuator_force":[-0.04813534976528899,-22.317267607039412,-22.14613823694981,-2.285814039852312,-0.001047036012892022,-0.0010723204689888632,-0.2944737390881342],"issued_joint_targets_rad":[-1.5445042797347206,-1.5521879180482994,1.6215500451982838,-1.639951244527422,-1.5708114107672926,0.02629154029214759],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.3999999999998467,"joint_targets_rad":[-1.5445042797347206,-1.5521879180482994,1.6215500451982838,-1.639951244527422,-1.5708114107672926,0.02629154029214759],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4199999999998445,"qpos":[-1.544692416193299,-1.5534307562402232,1.583745950721831,-1.6008513083081921,-1.5708133191060683,0.026091962332921666,0.0029354914454899853,0.0001566619877187004,0.0031941659981841782,-0.0034324739410131165,0.002935446381599371,0.00015629270469231385,0.0031972471845983443,-0.0034413670266143985,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,9.512128096726441e-18,-1.5324689107314145e-17,-2.687988013093084e-08],"qvel":[0.0009940360363960142,0.008106429127710129,0.19208049541057776,-0.19656266063843705,2.1289224380823287e-05,0.001007953406225013,0.00010524526644341376,1.1957799624084514e-05,6.664071051735114e-05,-0.0001608136090085468,0.00010421626428411994,7.307388998722645e-06,5.2563057200074936e-05,-0.00015992750407919652,2.3028795399491103e-17,1.6533970135768155e-17,1.1401457597350155e-14,1.009376513252721e-15,-4.48319263085133e-16,-4.005328646948827e-08],"joint_position_rad":[-1.544692416193299,-1.5534307562402232,1.583745950721831,-1.6008513083081921,-1.5708133191060683,0.026091962332921666],"joint_velocity_rad_s":[0.0009940360363960142,0.008106429127710129,0.19208049541057776,-0.19656266063843705,2.1289224380823287e-05,0.001007953406225013],"linkage_position_rad":[0.0029354914454899853,0.0001566619877187004,0.0031941659981841782,-0.0034324739410131165,0.002935446381599371,0.00015629270469231385,0.0031972471845983443,-0.0034413670266143985],"tcp_position_m":[-0.146977854533842,0.495465856400195,0.320228170730929],"tcp_quaternion_wxyz":[0.00010021743732054023,0.7071025500310528,0.7071110002960641,-8.340471832051348e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,9.512128096726441e-18,-1.5324689107314145e-17,-2.687988013093084e-08],"object_linear_velocity_m_s":[2.3028795399491103e-17,1.6533970135768155e-17,1.1401457597350155e-14],"object_angular_velocity_rad_s":[1.0093764903787924e-15,-4.483193165869881e-16,-4.0053286469488293e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313535556295809,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445003048404846,-1.5630344904911908,1.611086991069562,-1.6447725595696419,-1.5708099871398882,0.02629153751732162,0.0],"actuator_force":[-0.01339170893015762,-22.450040153019017,-22.150117468769167,-2.3043595668810894,-0.00046293934792629443,-0.0010077484225234912,-0.29459419900810546],"issued_joint_targets_rad":[-1.544505828613567,-1.5520455243399547,1.6214224857102688,-1.6399862821999405,-1.57080987210341,0.026290042764457837],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.4199999999998445,"joint_targets_rad":[-1.544505828613567,-1.5520455243399547,1.6214224857102688,-1.6399862821999405,-1.57080987210341,0.026290042764457837],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4399999999998423,"qpos":[-1.5446738723301954,-1.5532635732915632,1.5873799963087012,-1.6045841275257202,-1.5708128617837578,0.026110954806951924,0.002937428699445197,0.0001567438998725976,0.003195853599770491,-0.00343477108613949,0.002937381557000605,0.00015637521585935117,0.0031989227851038932,-0.0034436838848107523,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,9.505972301585786e-18,-1.3398385570143447e-17,-2.7031750041488835e-08],"qvel":[0.0008309868052691695,0.008073681736342809,0.1730988043914751,-0.17790377470418117,2.066334297382201e-05,0.0009045183256274713,8.452400152840573e-05,-1.5099156169128705e-06,8.706086449589433e-05,-7.796682716492185e-05,8.526903722140948e-05,2.3466490974152653e-06,0.00010012576765066787,-7.783569173750755e-05,1.4607867934605352e-17,1.049620332751894e-17,1.1344558667338115e-14,-2.554420091350189e-16,5.147049649576658e-16,-4.3344637686861125e-09],"joint_position_rad":[-1.5446738723301954,-1.5532635732915632,1.5873799963087012,-1.6045841275257202,-1.5708128617837578,0.026110954806951924],"joint_velocity_rad_s":[0.0008309868052691695,0.008073681736342809,0.1730988043914751,-0.17790377470418117,2.066334297382201e-05,0.0009045183256274713],"linkage_position_rad":[0.002937428699445197,0.0001567438998725976,0.003195853599770491,-0.00343477108613949,0.002937381557000605,0.00015637521585935117,0.0031989227851038932,-0.0034436838848107523],"tcp_position_m":[-0.14698730413442943,0.495468670798799,0.3187307876920624],"tcp_quaternion_wxyz":[0.00012487128603341186,0.707102704901903,0.7071108383088953,-0.00010711519456857822],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,9.505972301585786e-18,-1.3398385570143447e-17,-2.7031750041488835e-08],"object_linear_velocity_m_s":[1.4607867934605352e-17,1.049620332751894e-17,1.1344558667338115e-14],"object_angular_velocity_rad_s":[-2.554419811921172e-16,5.147049788501611e-16,-4.334463768686115e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313525114551516,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445025714694485,-1.5628917512515776,1.6109603842768334,-1.6448083186291962,-1.570808447003751,0.026290040319797633,0.0],"actuator_force":[0.010206999385900417,-22.48582861456589,-22.07874582032582,-2.3217180813198866,0.00014105570596711914,-0.0009090761398926617,-0.29458947801603913],"issued_joint_targets_rad":[-1.5445072121877441,-1.551929276404166,1.62131995509749,-1.6400181947759203,-1.5708084950455525,0.026288705135670193],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.4399999999998423,"joint_targets_rad":[-1.5445072121877441,-1.551929276404166,1.62131995509749,-1.6400181947759203,-1.5708084950455525,0.026288705135670193],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.45999999999984,"qpos":[-1.544657793813122,-1.553102610412591,1.5906544878695394,-1.6079635835184694,-1.5708123762024553,0.026127998395692385,0.0029388552658457063,0.00015670756161993628,0.0031973706473816814,-0.003435981878545107,0.0029388145155590855,0.00015637847557316916,0.0032005701394997375,-0.003444892434286158,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.7268900198842605e-17,-2.387282440702495e-17,-2.750941241164837e-08],"qvel":[0.0007370125873153905,0.007687552662455965,0.1559421946519763,-0.16107805670204653,2.3694484894990487e-05,0.0008116884161836581,5.920021742341018e-05,-2.716001943930764e-06,6.655319144571106e-05,-4.698243005378083e-05,5.975501469582795e-05,6.056031763356276e-07,7.870809709206706e-05,-4.505363851654613e-05,3.284268648173868e-17,2.1539097354996617e-17,1.1405620933692494e-14,-2.71046660566298e-16,5.442419338726739e-16,-1.742318426200682e-08],"joint_position_rad":[-1.544657793813122,-1.553102610412591,1.5906544878695394,-1.6079635835184694,-1.5708123762024553,0.026127998395692385],"joint_velocity_rad_s":[0.0007370125873153905,0.007687552662455965,0.1559421946519763,-0.16107805670204653,2.3694484894990487e-05,0.0008116884161836581],"linkage_position_rad":[0.0029388552658457063,0.00015670756161993628,0.0031973706473816814,-0.003435981878545107,0.0029388145155590855,0.00015637847557316916,0.0032005701394997375,-0.003444892434286158],"tcp_position_m":[-0.1469955469200781,0.4954721269420044,0.31737815517589263],"tcp_quaternion_wxyz":[0.00014501494491856633,0.707103042448612,0.707110493708192,-0.00012656357412752216],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.7268900198842605e-17,-2.387282440702495e-17,-2.750941241164837e-08],"object_linear_velocity_m_s":[3.284268648173868e-17,2.1539097354996617e-17,1.1405620933692494e-14],"object_angular_velocity_rad_s":[-2.7104662979086494e-16,5.442419493871007e-16,-1.7423184262006834e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313508535231739,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445045555146288,-1.5627754774968363,1.6108588414759903,-1.6448408317832617,-1.5708070683992512,0.026288702968509714,0.0],"actuator_force":[0.011671562060200813,-22.420755233473756,-21.968170647888655,-2.3308184621914734,0.00028445311249925,-0.0008165552097008089,-0.29447826523083576],"issued_joint_targets_rad":[-1.5445084463169603,-1.5518355229963094,1.6212387581011856,-1.640047128305028,-1.5708072679967569,0.026287512306691182],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.45999999999984,"joint_targets_rad":[-1.5445084463169603,-1.5518355229963094,1.6212387581011856,-1.640047128305028,-1.5708072679967569,0.026287512306691182],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.479999999999838,"qpos":[-1.5446435009229065,-1.5529509319860162,1.5936053213752404,-1.6110235396235901,-1.5708118323634204,0.026143293419042184,0.002939823696105362,0.00015666709179993992,0.003198464558950864,-0.003436735577987865,0.0029397875041506623,0.00015637257096448167,0.003201787100377736,-0.003445625484450875,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.006245273782132e-18,-2.264083412521044e-17,-2.7790918523939222e-08],"qvel":[0.0006590165437786541,0.007227982864616106,0.14052752504047514,-0.14584847148147215,2.6543255926977012e-05,0.0007284141039955189,3.879140742281023e-05,-2.423647163233575e-06,4.595670433916696e-05,-2.8500522414777224e-05,3.924000054143146e-05,3.8902173045433683e-07,5.637730434145712e-05,-2.6620086535241178e-05,5.243583410486722e-17,-1.8394609995108493e-17,1.1387579809542336e-14,-3.5778181427686736e-15,-1.2338509377608956e-15,-7.003573360583398e-08],"joint_position_rad":[-1.5446435009229065,-1.5529509319860162,1.5936053213752404,-1.6110235396235901,-1.5708118323634204,0.026143293419042184],"joint_velocity_rad_s":[0.0006590165437786541,0.007227982864616106,0.14052752504047514,-0.14584847148147215,2.6543255926977012e-05,0.0007284141039955189],"linkage_position_rad":[0.002939823696105362,0.00015666709179993992,0.003198464558950864,-0.003436735577987865,0.0029397875041506623,0.00015637257096448167,0.003201787100377736,-0.003445625484450875],"tcp_position_m":[-0.14700292515244656,0.4954760413563263,0.3161575040835214],"tcp_quaternion_wxyz":[0.00016026361985325562,0.7071033936262858,0.7071101364300547,-0.000141405907171014],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.006245273782132e-18,-2.264083412521044e-17,-2.7790918523939222e-08],"object_linear_velocity_m_s":[5.243583410486722e-17,-1.8394609995108493e-17,1.1387579809542336e-14],"object_angular_velocity_rad_s":[-3.577818208177037e-15,-1.2338507387582434e-15,-7.003573360583403e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313495443638699,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445062804069547,-1.562681941311383,1.6107786421358088,-1.6448702623602303,-1.570805839603265,0.026287510371009917,0.0],"actuator_force":[0.010834414392320468,-22.353211796580126,-21.86436849505344,-2.338514220172897,0.00034205448491775314,-0.0007329344156836726,-0.2943707170526224],"issued_joint_targets_rad":[-1.544509548552876,-1.5517600942169143,1.6211747486321906,-1.6400732987213313,-1.5708061732135559,0.026286447226303626],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.479999999999838,"joint_targets_rad":[-1.544509548552876,-1.5517600942169143,1.6211747486321906,-1.6400732987213313,-1.5708061732135559,0.026286447226303626],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4999999999998357,"qpos":[-1.5446307470167986,-1.552809314345887,1.596265297602527,-1.6137942231545161,-1.5708112423553926,0.02615701974791501,0.0029404312668085087,0.00015663041612423739,0.003199190426583608,-0.003437162263509573,0.002940398990509861,0.0001563665559177071,0.0032026229838539324,-0.003446032468745446,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.1009250570720091e-17,-1.990738915333977e-17,-2.8056472777687758e-08],"qvel":[0.0005902336193210915,0.006740296875489017,0.12667725712622357,-0.13205876935366687,2.8638816220617044e-05,0.0006537071588570507,2.2932704025699575e-05,-2.131623521613175e-06,2.9332622818197738e-05,-1.4303696666567064e-05,2.3309331882335755e-05,2.6330413292838563e-07,3.820064015348465e-05,-1.2697157201743316e-05,2.54882005886613e-17,-9.92301089023265e-18,1.1275169728299038e-14,1.1750705173450327e-17,9.172371361155578e-16,-7.579087175757493e-09],"joint_position_rad":[-1.5446307470167986,-1.552809314345887,1.596265297602527,-1.6137942231545161,-1.5708112423553926,0.02615701974791501],"joint_velocity_rad_s":[0.0005902336193210915,0.006740296875489017,0.12667725712622357,-0.13205876935366687,2.8638816220617044e-05,0.0006537071588570507],"linkage_position_rad":[0.0029404312668085087,0.00015663041612423739,0.003199190426583608,-0.003437162263509573,0.002940398990509861,0.0001563665559177071,0.0032026229838539324,-0.003446032468745446],"tcp_position_m":[-0.1470095547859924,0.49548025760474834,0.31505608487506714],"tcp_quaternion_wxyz":[0.0001712730050799522,0.7071037349772078,0.7071097902481358,-0.00015225661430408067],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.1009250570720091e-17,-1.990738915333977e-17,-2.8056472777687758e-08],"object_linear_velocity_m_s":[2.54882005886613e-17,-9.92301089023265e-18,1.1275169728299038e-14],"object_angular_velocity_rad_s":[1.175075694408747e-17,9.172371352893102e-16,-7.5790871757575e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313485994571662,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445077828511367,-1.562606898295116,1.6107156191409602,-1.644896847463431,-1.5708047429104754,0.026286445484981817,0.0],"actuator_force":[0.009834883595431165,-22.291286648653568,-21.77025977362291,-2.3454352190907457,0.0003858408365431387,-0.0006578473523006778,-0.2942727230454587],"issued_joint_targets_rad":[-1.544510534355125,-1.5516995190953595,1.6211245087764405,-1.6400969278520523,-1.5708051948544102,0.0262854948593538],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.4999999999998357,"joint_targets_rad":[-1.544510534355125,-1.5516995190953595,1.6211245087764405,-1.6400969278520523,-1.5708051948544102,0.0262854948593538],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5199999999998335,"qpos":[-1.5446193509555908,-1.5526779992909157,1.598663792380399,-1.6163029669596098,-1.5708106205079417,0.026169338605952296,0.0029407606115116514,0.0001565974553111729,0.0031996269736915993,-0.003437339217925964,0.002940731782963292,0.0001563608188692767,0.0032031571739057603,-0.0034461918290796248,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.4532911679348985e-17,-2.4022891990230446e-18,-2.8437742049338296e-08],"qvel":[0.0005290980683289976,0.006243806860516562,0.1142257967302009,-0.11957227897400965,3.0056397018888737e-05,0.0005866779879776938,1.0788491051278537e-05,-1.8716991957845833e-06,1.6468079767260426e-05,-3.556168876014974e-06,1.1105601299230838e-05,1.7127155557448744e-07,2.402037574958141e-05,-2.1837772097452445e-06,-1.8597638087043426e-18,-1.8523273214364215e-17,1.1279333064641385e-14,-3.7424176518601924e-17,1.3300539874556915e-15,-3.046555224547724e-08],"joint_position_rad":[-1.5446193509555908,-1.5526779992909157,1.598663792380399,-1.6163029669596098,-1.5708106205079417,0.026169338605952296],"joint_velocity_rad_s":[0.0005290980683289976,0.006243806860516562,0.1142257967302009,-0.11957227897400965,3.0056397018888737e-05,0.0005866779879776938],"linkage_position_rad":[0.0029407606115116514,0.0001565974553111729,0.0031996269736915993,-0.003437339217925964,0.002940731782963292,0.0001563608188692767,0.0032031571739057603,-0.0034461918290796248],"tcp_position_m":[-0.14701551934352486,0.49548465186443025,0.31406227965954153],"tcp_quaternion_wxyz":[0.0001787011120747213,0.7071040594900758,0.7071094622508575,-0.00015973061799891083],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.4532911679348985e-17,-2.4022891990230446e-18,-2.8437742049338296e-08],"object_linear_velocity_m_s":[-1.8597638087043426e-18,-1.8523273214364215e-17,1.1279333064641385e-14],"object_angular_velocity_rad_s":[-3.742410072476337e-17,1.3300539886987022e-15,-3.046555224547727e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313479482121285,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445090949396834,-1.5625468194468444,1.6106663392212193,-1.6449208260276185,-1.5708037625277196,0.026285493282606258,0.0],"actuator_force":[0.008872804483416985,-22.23516305606381,-21.685225010439808,-2.351701636603366,0.0004233504091644136,-0.0005904604707875905,-0.2941840901854997],"issued_joint_targets_rad":[-1.5445114171517154,-1.5516509696515404,1.6210852806517324,-1.640118235529536,-1.5708043192239955,0.026284642153469324],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.5199999999998335,"joint_targets_rad":[-1.5445114171517154,-1.5516509696515404,1.6210852806517324,-1.640118235529536,-1.5708043192239955,0.026284642153469324],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5399999999998313,"qpos":[-1.5446091578138212,-1.5525569368339762,1.6008270897501429,-1.618574517928937,-1.5708099790072565,0.026180394508301688,0.0029408782874006997,0.0001565678863426923,0.003199841470698058,-0.003437328474512552,0.002940852501324019,0.00015635545011956567,0.0032034583681185584,-0.003446165381251202,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-9.810024178725052e-18,2.3462891473936935e-18,-2.8553258180533797e-08],"qvel":[0.0004746424914869469,0.005751450557145875,0.10302576318706262,-0.10826574972877742,3.091069165878896e-05,0.0005265308664005122,1.6131855659650195e-06,-1.6458521735039607e-06,6.659566215349141e-06,4.45632582626169e-06,1.8808767601034903e-06,1.0174938495283596e-07,1.310789245450189e-05,5.630968667717483e-06,-1.6014863158505123e-18,-1.333263149539265e-17,1.1247414152683406e-14,5.970083660682069e-16,5.610278165983801e-17,-3.2969038009309385e-09],"joint_position_rad":[-1.5446091578138212,-1.5525569368339762,1.6008270897501429,-1.618574517928937,-1.5708099790072565,0.026180394508301688],"joint_velocity_rad_s":[0.0004746424914869469,0.005751450557145875,0.10302576318706262,-0.10826574972877742,3.091069165878896e-05,0.0005265308664005122],"linkage_position_rad":[0.0029408782874006997,0.0001565678863426923,0.003199841470698058,-0.003437328474512552,0.002940852501324019,0.00015635545011956567,0.0032034583681185584,-0.003446165381251202],"tcp_position_m":[-0.14702089049964948,0.4954891268452518,0.313165590481045],"tcp_quaternion_wxyz":[0.00018312764528232507,0.7071043634486565,0.707109156098743,-0.0001643698841063337],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-9.810024178725052e-18,2.3462891473936935e-18,-2.8553258180533797e-08],"object_linear_velocity_m_s":[-1.6014863158505123e-18,-1.333263149539265e-17,1.1247414152683406e-14],"object_angular_velocity_rad_s":[5.970083692565699e-16,5.610274750208453e-17,-3.2969038009309414e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931347526383082,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445102437439553,-1.5624988326674276,1.6106280337264203,-1.6449424313172314,-1.5708028848011901,0.02628464071735861,0.0],"actuator_force":[0.00797114313718339,-22.184371889761678,-21.608417322270725,-2.357381721269462,0.0004560338672945363,-0.0005299821115887227,-0.2941040097478663],"issued_joint_targets_rad":[-1.5445122086252585,-1.5516121472778255,1.621054843893433,-1.6401374332169327,-1.5708035344739968,0.026283877761093557],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.5399999999998313,"joint_targets_rad":[-1.5445122086252585,-1.5516121472778255,1.621054843893433,-1.6401374332169327,-1.5708035344739968,0.026283877761093557],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.559999999999829,"qpos":[-1.5446000324541866,-1.5524458753037784,1.6027787261720647,-1.6206312852296036,-1.5708093278692385,0.026190317024099397,0.002940837304266149,0.00015654135126026301,0.0031998879183199034,-0.0034371790869734855,0.002940814209068341,0.00015635046298109585,0.0032035819166690072,-0.0034460019678393904,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-8.944451116914013e-18,2.2215392139906386e-17,-2.901759678075327e-08],"qvel":[0.00042606559447196286,0.005272414008278055,0.09294635847556365,-0.09802767104559709,3.130307482348903e-05,0.0004725541097395737,-5.203473383775375e-06,-1.4501183354828384e-06,-7.120366419566182e-07,1.0306983585809928e-05,-4.9768973045483345e-06,4.908762681369441e-08,4.809122902453582e-06,1.1314954786542142e-05,-2.619922613027481e-17,-1.3316934900902326e-17,1.1273781949518253e-14,4.537788948829306e-16,-2.5999734762505395e-16,-1.3252518762004769e-08],"joint_position_rad":[-1.5446000324541866,-1.5524458753037784,1.6027787261720647,-1.6206312852296036,-1.5708093278692385,0.026190317024099397],"joint_velocity_rad_s":[0.00042606559447196286,0.005272414008278055,0.09294635847556365,-0.09802767104559709,3.130307482348903e-05,0.0004725541097395737],"linkage_position_rad":[0.002940837304266149,0.00015654135126026301,0.0031998879183199034,-0.0034371790869734855,0.002940814209068341,0.00015635046298109585,0.0032035819166690072,-0.0034460019678393904],"tcp_position_m":[-0.1470257311675018,0.4954936068054413,0.31235653969811855],"tcp_quaternion_wxyz":[0.0001850561054683442,0.7071046448124618,0.7071088737020392,-0.00016664546912765406],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-8.944451116914013e-18,2.2215392139906386e-17,-2.901759678075327e-08],"object_linear_velocity_m_s":[-2.619922613027481e-17,-1.3316934900902326e-17,1.1273781949518253e-14],"object_angular_velocity_rad_s":[4.53778879205114e-16,-2.599973741972727e-16,-1.325251876200478e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313472817006493,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544511252077972,-1.5624606062523756,1.6105984750932458,-1.6449618853102823,-1.5708020979168522,0.02628387644632618,0.0],"actuator_force":[0.007134514640256384,-22.138427500505713,-21.53904554786368,-2.362532935779541,0.0004846687107828984,-0.0004756998605657259,-0.2940316738132829],"issued_joint_targets_rad":[-1.5445129189707252,-1.5515811847961616,1.6210314118418572,-1.640154720184698,-1.57080283031714,0.026283191787157576],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.559999999999829,"joint_targets_rad":[-1.5445129189707252,-1.5515811847961616,1.6210314118418572,-1.640154720184698,-1.57080283031714,0.026283191787157576],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.579999999999827,"qpos":[-1.5445918564879981,-1.5523444227520562,1.6045397964715316,-1.6224935619190313,-1.5708086752475103,0.026199222348908834,0.002940679674865103,0.0001565175255242352,0.003199809249668629,-0.00343692976663816,0.0029406589644254614,0.00015634585300913626,0.0032035719241819745,-0.0034457401067761336,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,6.784717674548696e-18,9.32038829527079e-18,-2.9327409875850623e-08],"qvel":[0.0003826767339421634,0.004813073021395129,0.08387135880750053,-0.08875710430976569,3.131953770741222e-05,0.00042411090221457454,-1.0154977754346784e-05,-1.2800969103553981e-06,-6.151064136407944e-06,1.4454917922059869e-05,-9.962682039018703e-06,9.69242219951291e-09,-1.4103512100755461e-06,1.5322213445084368e-05,8.203365239945437e-19,2.005623086284429e-17,1.1268230834395128e-14,2.437294713243114e-15,-1.8978269971133758e-15,-5.327096698656782e-08],"joint_position_rad":[-1.5445918564879981,-1.5523444227520562,1.6045397964715316,-1.6224935619190313,-1.5708086752475103,0.026199222348908834],"joint_velocity_rad_s":[0.0003826767339421634,0.004813073021395129,0.08387135880750053,-0.08875710430976569,3.131953770741222e-05,0.00042411090221457454],"linkage_position_rad":[0.002940679674865103,0.0001565175255242352,0.003199809249668629,-0.00343692976663816,0.0029406589644254614,0.00015634585300913626,0.0032035719241819745,-0.0034457401067761336],"tcp_position_m":[-0.14703009683185003,0.4954980334665213,0.3116265720504017],"tcp_quaternion_wxyz":[0.00018492219790751312,0.7071049027170865,0.7071086157584453,-0.00016696531240367512],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,6.784717674548696e-18,9.32038829527079e-18,-2.9327409875850623e-08],"object_linear_velocity_m_s":[8.203365239945437e-19,2.005623086284429e-17,1.1268230834395128e-14],"object_angular_velocity_rad_s":[2.4372946009333993e-15,-1.8978271393495992e-15,-5.3270966986567864e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313471723180784,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445121392138297,-1.562430248584898,1.6105758722119645,-1.644979395501111,-1.5708013916154442,0.026283190578122513,0.0],"actuator_force":[0.006363854759911192,-22.09688087424138,-21.47639204213465,-2.3672063600632782,0.0005098622623336269,-0.00042697561461757516,-0.29396634366556146],"issued_joint_targets_rad":[-1.5445135571116912,-1.551556566236748,1.6210135475960301,-1.6401702815295092,-1.570802197788733,0.02628257557716834],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.579999999999827,"joint_targets_rad":[-1.5445135571116912,-1.551556566236748,1.6210135475960301,-1.6401702815295092,-1.570802197788733,0.02628257557716834],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5999999999998247,"qpos":[-1.5445845259230035,-1.5522520936778004,1.6061292227087829,-1.6241797250711174,-1.570808027723059,0.026207214706264054,0.002940438533735928,0.00015649612123327293,0.0031996394285959623,-0.003436610911261813,0.0029404199407504885,0.00015634160902644107,0.0032034633662737892,-0.0034454100263493293,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.3085443281486718e-17,-1.30031861627466e-19,-2.9529397220827945e-08],"qvel":[0.0003438765390047188,0.0043776423486477775,0.0756973350639113,-0.08036266433807777,3.103268186905566e-05,0.0003806311532244732,-1.3639340836107914e-05,-1.132041071455146e-06,-1.0064932048953749e-05,1.7269803865292264e-05,-1.3475686659651116e-05,-1.925888268554104e-08,-5.9827912653931695e-06,1.8018076566789664e-05,-2.448247789536339e-18,1.3238894832844165e-17,1.1300149746353108e-14,-2.1057080428900025e-16,-6.267515266054343e-16,-5.764847199293993e-09],"joint_position_rad":[-1.5445845259230035,-1.5522520936778004,1.6061292227087829,-1.6241797250711174,-1.570808027723059,0.026207214706264054],"joint_velocity_rad_s":[0.0003438765390047188,0.0043776423486477775,0.0756973350639113,-0.08036266433807777,3.103268186905566e-05,0.0003806311532244732],"linkage_position_rad":[0.002940438533735928,0.00015649612123327293,0.0031996394285959623,-0.003436610911261813,0.0029404199407504885,0.00015634160902644107,0.0032034633662737892,-0.0034454100263493293],"tcp_position_m":[-0.14703403656264688,0.4955023626724004,0.3109679654122204],"tcp_quaternion_wxyz":[0.00018310190874224638,0.7071051371505352,0.7071083821017687,-0.00016568171972830404],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.3085443281486718e-17,-1.30031861627466e-19,-2.9529397220827945e-08],"object_linear_velocity_m_s":[-2.448247789536339e-18,1.3238894832844165e-17,1.1300149746353108e-14],"object_angular_velocity_rad_s":[-2.105708413026904e-16,-6.267515140185048e-16,-5.764847199293998e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313471648986556,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445129214765432,-1.5624062260207154,1.6105587858282837,-1.64499515341375,-1.5708007569549625,0.02628257446117113,0.0],"actuator_force":[0.005658277319071203,-22.059321625289158,-21.419807786562615,-2.371447737508447,0.0005321158613469379,-0.0003832378689097027,-0.29390734858684203],"issued_joint_targets_rad":[-1.5445141308811847,-1.5515370614456818,1.6210000963672884,-1.6401842874208163,-1.570801629049476,0.02628202153997433],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.5999999999998247,"joint_targets_rad":[-1.5445141308811847,-1.5515370614456818,1.6210000963672884,-1.6401842874208163,-1.570801629049476,0.02628202153997433],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6199999999998225,"qpos":[-1.5445779491950185,-1.5521683447904147,1.6075639907116899,-1.6257064167838617,-1.5708073905521058,0.026214387597787932,0.002940139863645693,0.000156476882949533,0.003199405183392152,-0.0034362462331055566,0.0029401231540892698,0.000156337715539075,0.003203283846836052,-0.003445035290765406,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,9.215975945004148e-18,1.1070820536337039e-17,-2.9963516745245376e-08],"qvel":[0.00030914310431867165,0.003968682929725577,0.06833211356843107,-0.07276160596953568,3.0503720804723562e-05,0.0003416042901206029,-1.597688442689388e-05,-1.002798898486644e-06,-1.2781856778008017e-05,1.9048690313178115e-05,-1.583721281889922e-05,-4.002548268069367e-08,-9.256876684873242e-06,1.969600544665571e-05,-1.5428411864628277e-17,6.676838476270243e-18,1.1265455276833574e-14,-5.030806307472566e-16,6.117156765437817e-16,-2.3172876820716287e-08],"joint_position_rad":[-1.5445779491950185,-1.5521683447904147,1.6075639907116899,-1.6257064167838617,-1.5708073905521058,0.026214387597787932],"joint_velocity_rad_s":[0.00030914310431867165,0.003968682929725577,0.06833211356843107,-0.07276160596953568,3.0503720804723562e-05,0.0003416042901206029],"linkage_position_rad":[0.002940139863645693,0.000156476882949533,0.003199405183392152,-0.0034362462331055566,0.0029401231540892698,0.000156337715539075,0.003203283846836052,-0.003445035290765406],"tcp_position_m":[-0.14703759386326168,0.4955065616585186,0.31037375004496104],"tcp_quaternion_wxyz":[0.00017991875063654223,0.7071053487070955,0.7071081719638621,-0.00016309808257305896],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,9.215975945004148e-18,1.1070820536337039e-17,-2.9963516745245376e-08],"object_linear_velocity_m_s":[-1.5428411864628277e-17,6.676838476270243e-18,1.1265455276833574e-14],"object_angular_velocity_rad_s":[-5.030805946020358e-16,6.117157071190322e-16,-2.3172876820716307e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313472329921685,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445136127340582,-1.5623872959838832,1.6105460603807895,-1.6450093342376564,-1.5708001861142933,0.026282020506628114,0.0],"actuator_force":[0.005015680193082517,-22.025375558827363,-21.36870608917343,-2.375298129943758,0.0005518468258287612,-0.00034397459196888747,-0.2938540804005192],"issued_joint_targets_rad":[-1.5445146471733904,-1.5515216728064094,1.6209901309415427,-1.6401968931394248,-1.5708011172218883,0.026281522999099236],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.6199999999998225,"joint_targets_rad":[-1.5445146471733904,-1.5515216728064094,1.6209901309415427,-1.6401968931394248,-1.5708011172218883,0.026281522999099236],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6399999999998203,"qpos":[-1.5445720455022784,-1.5520926021433932,1.608859358602285,-1.6270887079761547,-1.570806767876539,0.02622082491913633,0.002939803899007794,0.00015645958376878547,0.003199127419243785,-0.0034358540810144195,0.0029397888674730106,0.00015633415427938175,0.0032030550309231224,-0.003444634119197668,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,8.643730336506537e-18,1.0601653985746914e-17,-3.0147350732891854e-08],"qvel":[0.0002780206556447654,0.0035875031249464565,0.06169344400157895,-0.06587900139210513,2.978419372866868e-05,0.0003065728723296188,-1.7424801004244745e-05,-8.897150046300842e-07,-1.4565669233651704e-05,2.0029643056933516e-05,-1.730525685592912e-05,-5.441435012811795e-08,-1.1513303443335678e-05,2.0591101297791854e-05,-2.0225667251713273e-17,4.478533192457415e-17,1.1232148586094816e-14,3.675146621573131e-15,5.008778600303824e-16,-9.314769352667648e-08],"joint_position_rad":[-1.5445720455022784,-1.5520926021433932,1.608859358602285,-1.6270887079761547,-1.570806767876539,0.02622082491913633],"joint_velocity_rad_s":[0.0002780206556447654,0.0035875031249464565,0.06169344400157895,-0.06587900139210513,2.978419372866868e-05,0.0003065728723296188],"linkage_position_rad":[0.002939803899007794,0.00015645958376878547,0.003199127419243785,-0.0034358540810144195,0.0029397888674730106,0.00015633415427938175,0.0032030550309231224,-0.003444634119197668],"tcp_position_m":[-0.14704080738998554,0.4955106068200729,0.30983763560221134],"tcp_quaternion_wxyz":[0.00017565021183737722,0.7071055383975534,0.7071079841737588,-0.00015947486346609528],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,8.643730336506537e-18,1.0601653985746914e-17,-3.0147350732891854e-08],"object_linear_velocity_m_s":[-2.0225667251713273e-17,4.478533192457415e-17,1.1232148586094816e-14],"object_angular_velocity_rad_s":[3.675146649798369e-15,5.008776400488008e-16,-9.314769352667656e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313473557078236,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445142248011225,-1.5623724524847524,1.6105367690558094,-1.6450220971725789,-1.570799672230342,0.026281522039841583,0.0],"actuator_force":[0.004433140053606621,-21.9947019326969,-21.32255669358301,-2.378794459001597,0.0005694037256489537,-0.0003087268803358967,-0.29380598803473934],"issued_joint_targets_rad":[-1.544515112071388,-1.5515095918360362,1.6209829076789872,-1.640208239607989,-1.5708006562540253,0.02628107406761517],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.6399999999998203,"joint_targets_rad":[-1.544515112071388,-1.5515095918360362,1.6209829076789872,-1.640208239607989,-1.5708006562540253,0.02628107406761517],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.659999999999818,"qpos":[-1.5445667433905808,-1.5520242814546272,1.610029041016938,-1.6283402466553625,-1.5708061629025751,0.02622660195690053,0.002939446265360443,0.0001564440218780072,0.0031988223657861445,-0.0034354485128936458,0.002939432731122895,0.00015633090534823292,0.003202793809446339,-0.003444220455708816,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.8199730097426218e-17,1.1202752647352026e-17,-3.050053852674133e-08],"qvel":[0.0002501100692452923,0.0032344754795929,0.05570784328285883,-0.05964699800684244,2.8917414835161825e-05,0.0002751269253297696,-1.8189044469365847e-05,-7.905470011784094e-07,-1.5627934963960096e-05,2.040288301144846e-05,-1.8086432796607996e-05,-6.38679567111435e-08,-1.297755405086429e-05,2.0891133125138406e-05,-1.1859762216459353e-17,2.038744797242796e-17,1.1251577489025761e-14,-3.28695815421861e-16,-1.6838824450835127e-17,-1.0080204105988097e-08],"joint_position_rad":[-1.5445667433905808,-1.5520242814546272,1.610029041016938,-1.6283402466553625,-1.5708061629025751,0.02622660195690053],"joint_velocity_rad_s":[0.0002501100692452923,0.0032344754795929,0.05570784328285883,-0.05964699800684244,2.8917414835161825e-05,0.0002751269253297696],"linkage_position_rad":[0.002939446265360443,0.0001564440218780072,0.0031988223657861445,-0.0034354485128936458,0.002939432731122895,0.00015633090534823292,0.003202793809446339,-0.003444220455708816],"tcp_position_m":[-0.14704371156500298,0.495514481888666,0.30935394515954234],"tcp_quaternion_wxyz":[0.00017053348345814914,0.7071057075037698,0.7071078173080104,-0.0001550349155194942],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.8199730097426218e-17,1.1202752647352026e-17,-3.050053852674133e-08],"object_linear_velocity_m_s":[-1.1859762216459353e-17,2.038744797242796e-17,1.1251577489025761e-14],"object_angular_velocity_rad_s":[-3.286958166748992e-16,-1.6838804033122354e-17,-1.0080204105988105e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313475166344364,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445147677726805,-1.5623608817612014,1.6105301694668115,-1.6450335862000476,-1.57079920926235,0.0262810731753255,0.0],"actuator_force":[0.003907208102646109,-21.96699080498547,-21.280880413396517,-2.38196997165835,0.0005850786291148324,-0.00027708332049236617,-0.293762572437837],"issued_joint_targets_rad":[-1.5445155309551157,-1.5515001638305848,1.6209778309948153,-1.6402184542090656,-1.5708002408054313,0.026280669542431485],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.659999999999818,"joint_targets_rad":[-1.5445155309551157,-1.5515001638305848,1.6209778309948153,-1.6402184542090656,-1.5708002408054313,0.026280669542431485],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.679999999999816,"qpos":[-1.5445619795477303,-1.5519628030658958,1.611085372170706,-1.62947339215736,-1.570805578052568,0.026231786279753203,0.00293907890349989,0.00015643001756367967,0.003198502508291424,-0.0034350401646835527,0.0029390667071868036,0.00015632794806752737,0.003202513244721527,-0.0034438048360441458,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.677018233424547e-17,1.6116002181851348e-17,-3.088072399716557e-08],"qvel":[0.00022506090679700358,0.0029092857794264858,0.05030958922224287,-0.05400414822736857,2.7939700122699783e-05,0.00024689890662595807,-1.8434030993371413e-05,-7.033961429678301e-07,-1.613783969405561e-05,2.031987356843175e-05,-1.834569946650178e-05,-6.953496442852662e-08,-1.3830314175578533e-05,2.0745533864014355e-05,-2.3530983679003285e-17,2.5061757567657113e-17,1.1237699701217945e-14,-1.4927619114053493e-17,3.694017303338686e-16,-4.051925749296047e-08],"joint_position_rad":[-1.5445619795477303,-1.5519628030658958,1.611085372170706,-1.62947339215736,-1.570805578052568,0.026231786279753203],"joint_velocity_rad_s":[0.00022506090679700358,0.0029092857794264858,0.05030958922224287,-0.05400414822736857,2.7939700122699783e-05,0.00024689890662595807],"linkage_position_rad":[0.00293907890349989,0.00015643001756367967,0.003198502508291424,-0.0034350401646835527,0.0029390667071868036,0.00015632794806752737,0.003202513244721527,-0.0034438048360441458],"tcp_position_m":[-0.14704633710040282,0.4955181764433886,0.30891755560326783],"tcp_quaternion_wxyz":[0.0001647705375423882,0.7071058574683801,0.7071076698029194,-0.00014996820225780179],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.677018233424547e-17,1.6116002181851348e-17,-3.088072399716557e-08],"object_linear_velocity_m_s":[-2.3530983679003285e-17,2.5061757567657113e-17,1.1237699701217945e-14],"object_angular_velocity_rad_s":[-1.4927597605284564e-17,3.6940173261485034e-16,-4.05192574929605e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313477029629061,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445152502995585,-1.5623519261686116,1.6105256678844926,-1.6450439310909453,-1.570798791878363,0.026280668711128878,0.0],"actuator_force":[0.0034341336245233833,-21.94196051720246,-21.243244261323525,-2.3848546440557357,0.0005991170902461818,-0.0002486749747578898,-0.29372338188203534],"issued_joint_targets_rad":[-1.544515908592966,-1.5514928590711055,1.6209744246738733,-1.6402276517532872,-1.5707998661512752,0.026280304814664625],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.679999999999816,"joint_targets_rad":[-1.544515908592966,-1.5514928590711055,1.6209744246738733,-1.6402276517532872,-1.5707998661512752,0.026280304814664625],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6999999999998137,"qpos":[-1.5445576977731885,-1.5519076027048733,1.6120394504563929,-1.6304993367053573,-1.570805015094063,0.026236438535527675,0.002938710818030502,0.00015641741060976738,0.0031981773424113154,-0.0034346369534730666,0.002938699818792172,0.00015632526161023553,0.00320222333725877,-0.0034433950889277776,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.2681833889585819e-17,1.4959825492593664e-17,-3.103436072847399e-08],"qvel":[0.00020256470342100771,0.0026111278848052226,0.045439842080203366,-0.04889480375037827,2.6881408191027707e-05,0.0002215592278820076,-1.829054835734348e-05,-6.266503574881754e-07,-1.6230245798208602e-05,1.9900728439282136e-05,-1.8214291206464398e-05,-7.232722127702497e-08,-1.4215962550436426e-05,2.0272731819460342e-05,-1.5887099155111105e-17,1.410596907379014e-17,1.1219658577067782e-14,-3.698083720094425e-16,-4.1188515198117433e-16,-4.3848899558113646e-09],"joint_position_rad":[-1.5445576977731885,-1.5519076027048733,1.6120394504563929,-1.6304993367053573,-1.570805015094063,0.026236438535527675],"joint_velocity_rad_s":[0.00020256470342100771,0.0026111278848052226,0.045439842080203366,-0.04889480375037827,2.6881408191027707e-05,0.0002215592278820076],"linkage_position_rad":[0.002938710818030502,0.00015641741060976738,0.0031981773424113154,-0.0034346369534730666,0.002938699818792172,0.00015632526161023553,0.00320222333725877,-0.0034433950889277776],"tcp_position_m":[-0.14704871144766343,0.49552168469590036,0.30852384377358455],"tcp_quaternion_wxyz":[0.0001585326226462475,0.70710598981222,0.7071075400371115,-0.00014443597878371756],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.2681833889585819e-17,1.4959825492593664e-17,-3.103436072847399e-08],"object_linear_velocity_m_s":[-1.5887099155111105e-17,1.410596907379014e-17,1.1219658577067782e-14],"object_angular_velocity_rad_s":[-3.698083977058213e-16,-4.1188512891642417e-16,-4.384889955811369e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313479047737779,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445156798168453,-1.5623450547910998,1.6105227903564898,-1.6450532485225862,-1.570798415359804,0.026280304039269693,0.0],"actuator_force":[0.00301003131789912,-21.919355326375353,-21.20925703188732,-2.387475533576662,0.0006117263102396464,-0.0002231709171915952,-0.29368800764331465],"issued_joint_targets_rad":[-1.5445162492197861,-1.5514872493775917,1.6209723086975905,-1.6402359355068266,-1.5707995281014167,0.026279975793375404],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.6999999999998137,"joint_targets_rad":[-1.5445162492197861,-1.5514872493775917,1.6209723086975905,-1.6402359355068266,-1.5707995281014167,0.026279975793375404],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7199999999998115,"qpos":[-1.5445538480947352,-1.5518581389797639,1.6129012668838723,-1.6314282154977535,-1.570804475249537,0.026240613164537453,0.0029383486828406403,0.00015640605803052794,0.0031978539851134974,-0.0034342446455524352,0.002938338755941909,0.00015632282545930182,0.0032019316468407844,-0.0034429969025528318,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.1839331010800104e-17,2.872807632198565e-17,-3.1460810503266636e-08],"qvel":[0.00018234929494260116,0.002338855230747803,0.041045875745006524,-0.044268567754945434,2.5767825004871042e-05,0.00019881226748039233,-1.7862200362799644e-05,-5.589371857178847e-07,-1.601225475169273e-05,1.9240246042570695e-05,-1.7796179726299866e-05,-7.296617633019725e-08,-1.4249488228203317e-05,1.956612622295616e-05,-3.380980471874883e-17,1.2289522054879542e-17,1.1279333064641385e-14,-3.3508940843554244e-16,-1.7754008939703849e-16,-1.762588171128791e-08],"joint_position_rad":[-1.5445538480947352,-1.5518581389797639,1.6129012668838723,-1.6314282154977535,-1.570804475249537,0.026240613164537453],"joint_velocity_rad_s":[0.00018234929494260116,0.002338855230747803,0.041045875745006524,-0.044268567754945434,2.5767825004871042e-05,0.00019881226748039233],"linkage_position_rad":[0.0029383486828406403,0.00015640605803052794,0.0031978539851134974,-0.0034342446455524352,0.002938338755941909,0.00015632282545930182,0.0032019316468407844,-0.0034429969025528318],"tcp_position_m":[-0.1470508591845341,0.49552500450009646,0.3081686378135179],"tcp_quaternion_wxyz":[0.0001519642378465915,0.7071061060735344,0.7071074263911417,-0.000138574490106217],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.1839331010800104e-17,2.872807632198565e-17,-3.1460810503266636e-08],"object_linear_velocity_m_s":[-3.380980471874883e-17,1.2289522054879542e-17,1.1279333064641385e-14],"object_angular_velocity_rad_s":[-3.3508942061936763e-16,-1.775400678953122e-16,-1.7625881711287927e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313481144594402,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445160627334424,-1.5623398395290722,1.6105211593837854,-1.6450616432230292,-1.5707980755209139,0.02627997506952315,0.0],"actuator_force":[0.0026310046087019145,-21.898943190915816,-21.178565298176636,-2.389857087143241,0.0006230818109997927,-0.00020027425519053565,-0.29365608003868193],"issued_joint_targets_rad":[-1.5445165566035404,-1.5514829890217057,1.62097118052082,-1.6402433982195885,-1.5707992229317769,0.026279678840441547],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.7199999999998115,"joint_targets_rad":[-1.5445165566035404,-1.5514829890217057,1.62097118052082,-1.6402433982195885,-1.5707992229317769,0.026279678840441547],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7399999999998093,"qpos":[-1.544550386008847,-1.5518138983484713,1.6136798193419464,-1.6322692064150657,-1.570803959289718,0.026244359038239663,0.0029379973300717004,0.0001563958320911891,0.0031975376684913706,-0.0034338673145335864,0.002937988364834948,0.00015632061973222162,0.003201643794889061,-0.0034426142813641864,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.635200921925526e-18,3.104727172788025e-17,-3.174559159503658e-08],"qvel":[0.00016417400910054785,0.0020910977771068525,0.037080403166651454,-0.04007979925621097,2.4619917466980744e-05,0.00017839281628183356,-1.7230653724629208e-05,-4.990848915034438e-07,-1.5568549081265536e-05,1.841282284127123e-05,-1.7173335223037608e-05,-7.202026977100235e-08,-1.402212183505524e-05,1.86989482792866e-05,-7.580544398893586e-17,-2.827758768905447e-17,1.1265455276833575e-14,-3.18456691269458e-15,2.533576989053268e-15,-7.085051374859884e-08],"joint_position_rad":[-1.544550386008847,-1.5518138983484713,1.6136798193419464,-1.6322692064150657,-1.570803959289718,0.026244359038239663],"joint_velocity_rad_s":[0.00016417400910054785,0.0020910977771068525,0.037080403166651454,-0.04007979925621097,2.4619917466980744e-05,0.00017839281628183356],"linkage_position_rad":[0.0029379973300717004,0.0001563958320911891,0.0031975376684913706,-0.0034338673145335864,0.002937988364834948,0.00015632061973222162,0.003201643794889061,-0.0034426142813641864],"tcp_position_m":[-0.14705280234916698,0.49552813654592465,0.3078481732261904],"tcp_quaternion_wxyz":[0.00014518664053837983,0.7071062077642097,0.7071073272894107,-0.0001324982374890423],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.635200921925526e-18,3.104727172788025e-17,-3.174559159503658e-08],"object_linear_velocity_m_s":[-7.580544398893586e-17,-2.827758768905447e-17,1.1265455276833575e-14],"object_angular_velocity_rad_s":[-3.1845667562342066e-15,2.5335771910134774e-15,-7.085051374859891e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348326256063,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544516404589693,-1.5623359356483288,1.6105204750823783,-1.6450692090908179,-1.5707977686404409,0.026279678164334703,0.0],"actuator_force":[0.0022932346673769644,-21.880513710557807,-21.15084978579671,-2.392021412255076,0.0006333328918799452,-0.00017971858066267998,-0.2936272648005941],"issued_joint_targets_rad":[-1.544516834077745,-1.5514798104642458,1.620970811680237,-1.6402501248591494,-1.5707989474012096,0.02627941074808161],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.7399999999998093,"joint_targets_rad":[-1.544516834077745,-1.5514798104642458,1.620970811680237,-1.6402501248591494,-1.5707989474012096,0.02627941074808161],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.759999999999807,"qpos":[-1.5445472718784368,-1.5517743990444053,1.6143832154842137,-1.6330306205223262,-1.5708034676198603,0.026247720034353703,0.0029376601442111685,0.00015638661847233056,0.003197232139107537,-0.0034335077103660556,0.0029376520424767524,0.0001563186260797753,0.0032013638739416743,-0.003442249914040748,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.0759900712527002e-17,3.243099268015001e-17,-3.2014235247891005e-08],"qvel":[0.0001478256727812168,0.001866300309941383,0.03350103761710766,-0.03628717166344702,2.345452293208167e-05,0.00016006306049927288,-1.6459822872564328e-05,-4.460110482324593e-07,-1.496579975005005e-05,1.7476250534769942e-05,-1.640995427104991e-05,-7.001877425931449e-08,-1.3606599304117332e-05,1.7727898301185317e-05,-3.771319323184631e-17,-1.1981926972607172e-17,1.111835072607074e-14,1.5888977653035626e-16,-1.0326429294426156e-15,-7.667260589715498e-09],"joint_position_rad":[-1.5445472718784368,-1.5517743990444053,1.6143832154842137,-1.6330306205223262,-1.5708034676198603,0.026247720034353703],"joint_velocity_rad_s":[0.0001478256727812168,0.001866300309941383,0.03350103761710766,-0.03628717166344702,2.345452293208167e-05,0.00016006306049927288],"linkage_position_rad":[0.0029376601442111685,0.00015638661847233056,0.003197232139107537,-0.0034335077103660556,0.0029376520424767524,0.0001563186260797753,0.0032013638739416743,-0.003442249914040748],"tcp_position_m":[-0.14705456069152048,0.49553108332661894,0.30755905311788745],"tcp_quaternion_wxyz":[0.0001383009429816492,0.7071062963590329,0.7071072412087491,-0.00012630285874318242],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.0759900712527002e-17,3.243099268015001e-17,-3.2014235247891005e-08],"object_linear_velocity_m_s":[-3.771319323184631e-17,-1.1981926972607172e-17,1.111835072607074e-14],"object_angular_velocity_rad_s":[1.5888970991449503e-16,-1.0326429397810818e-15,-7.667260589715507e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313485358615185,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445167101639807,-1.5623330772181183,1.6105205117046166,-1.6450760320004765,-1.5707974914788065,0.026279410116375957,0.0],"actuator_force":[0.0019931597998947836,-21.863876471402364,-21.125822606037218,-2.39398857273045,0.0006426182337690989,-0.0001612650388000958,-0.29360126044867796],"issued_joint_targets_rad":[-1.5445170846728251,-1.5514774777709088,1.6209710003045077,-1.640256188657113,-1.5707986984698477,0.026279168582629294],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.759999999999807,"joint_targets_rad":[-1.5445170846728251,-1.5514774777709088,1.6209710003045077,-1.640256188657113,-1.5707986984698477,0.026279168582629294],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.779999999999805,"qpos":[-1.5445444701971942,-1.5517391909542646,1.6150187612784297,-1.6337199834612293,-1.570803000332864,0.026250735542446956,0.0029373393799259546,0.00015637831531513195,0.003196939975702285,-0.003433167554957448,0.002937332053834991,0.00015631682504806243,0.0032010947590910056,-0.003441905468015862,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.5589827146002044e-17,5.325929093234724e-17,-3.239994012142064e-08],"qvel":[0.00013311530007107793,0.0016629474625703953,0.03026959999607066,-0.03285324637618513,2.2286426959080002e-05,0.00014360923593007149,-1.5599675477894617e-05,-3.9902015465486734e-07,-1.425596653534543e-05,1.6475783558325842e-05,-1.5556150198544704e-05,-6.715382284632099e-08,-1.3058198439349684e-05,1.6697667642968406e-05,-7.320004296736307e-17,-2.347986479548157e-17,1.1759504522791769e-14,-1.641546331469486e-16,1.0596026645493902e-15,-3.0819981702124805e-08],"joint_position_rad":[-1.5445444701971942,-1.5517391909542646,1.6150187612784297,-1.6337199834612293,-1.570803000332864,0.026250735542446956],"joint_velocity_rad_s":[0.00013311530007107793,0.0016629474625703953,0.03026959999607066,-0.03285324637618513,2.2286426959080002e-05,0.00014360923593007149],"linkage_position_rad":[0.0029373393799259546,0.00015637831531513195,0.003196939975702285,-0.003433167554957448,0.002937332053834991,0.00015631682504806243,0.0032010947590910056,-0.003441905468015862],"tcp_position_m":[-0.14705615203265773,0.49553384935469447,0.30729821258605716],"tcp_quaternion_wxyz":[0.00013139077035602872,0.7071063732131859,0.7071071667587079,-0.00012006761476523228],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.5589827146002044e-17,5.325929093234724e-17,-3.239994012142064e-08],"object_linear_velocity_m_s":[-7.320004296736307e-17,-2.347986479548157e-17,1.1759504522791769e-14],"object_angular_velocity_rad_s":[-1.6415456776772342e-16,1.0596026742256334e-15,-3.081998170212484e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348740144099,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445169836646495,-1.5623310303425557,1.6105210700842498,-1.6450821859052513,-1.5707972409966342,0.026279167992344626,0.0],"actuator_force":[0.0017269450609092019,-21.84885776161036,-21.10322238678782,-2.3957765843925927,0.0006510254189606712,-0.00014469864417243627,-0.29357779255966504],"issued_joint_targets_rad":[-1.5445173110691535,-1.551475805543601,1.6209715914720226,-1.6402616556435607,-1.5707984734660412,0.026278949756166955],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.779999999999805,"joint_targets_rad":[-1.5445173110691535,-1.551475805543601,1.6209715914720226,-1.6402616556435607,-1.5707984734660412,0.026278949756166955],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7999999999998026,"qpos":[-1.5445419492511543,-1.551707856308588,1.6155930427646803,-1.6343441097020772,-1.570802557269994,0.026253440926948445,0.0029370364147293087,0.00015637083080219285,0.0031966628510820315,-0.0034328477784345895,0.0029370297860647123,0.0001563152000844466,0.003200838393689731,-0.003441581824710552,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.232210993452077e-17,4.2039778019870933e-17,-3.251680014158568e-08],"qvel":[0.00011987391964277766,0.0014794764986671648,0.02735181070169039,-0.029744119746886632,2.1127198859187553e-05,0.00012883965619393684,-1.4688583998112528e-05,-3.573148074254229e-07,-1.3479459107486323e-05,1.5445545629629496e-05,-1.4650481791896713e-05,-6.371751172904982e-08,-1.2421417898071176e-05,1.5641617658086567e-05,-4.914893690083872e-17,-1.4968964083737844e-17,1.2168899263122294e-14,4.1440265669905927e-16,-1.910335553134998e-15,-3.3352592462341123e-09],"joint_position_rad":[-1.5445419492511543,-1.551707856308588,1.6155930427646803,-1.6343441097020772,-1.570802557269994,0.026253440926948445],"joint_velocity_rad_s":[0.00011987391964277766,0.0014794764986671648,0.02735181070169039,-0.029744119746886632,2.1127198859187553e-05,0.00012883965619393684],"linkage_position_rad":[0.0029370364147293087,0.00015637083080219285,0.0031966628510820315,-0.0034328477784345895,0.0029370297860647123,0.0001563152000844466,0.003200838393689731,-0.003441581824710552],"tcp_position_m":[-0.14705759240279548,0.49553644057982776,0.30706288616538446],"tcp_quaternion_wxyz":[0.00012452475339156386,0.7071064396051511,0.7071071026364627,-0.00011385771353646875],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.232210993452077e-17,4.2039778019870933e-17,-3.251680014158568e-08],"object_linear_velocity_m_s":[-4.914893690083872e-17,-1.4968964083737844e-17,1.2168899263122294e-14],"object_angular_velocity_rad_s":[4.144025321826329e-16,-1.9103355801672876e-15,-3.335259246234116e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348936874186,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445172287322566,-1.5623296119256145,1.6105219979469574,-1.6450877374140467,-1.5707970145218972,0.02627894920461747,0.0],"actuator_force":[0.0014914699386281427,-21.835301833520134,-21.082813916122177,-2.397401881295991,0.0006586541625210884,-0.00012982678487816202,-0.293556614710751],"issued_joint_targets_rad":[-1.5445175156646294,-1.551474650148997,1.620972468919767,-1.6402665858560892,-1.5707982700311778,0.02627875195732584],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.7999999999998026,"joint_targets_rad":[-1.5445175156646294,-1.551474650148997,1.620972468919767,-1.6402665858560892,-1.5707982700311778,0.02627875195732584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8199999999998004,"qpos":[-1.5445396806889096,-1.5516800099731631,1.6161119992434587,-1.6349091697370624,-1.5708021380745254,0.0262558679397869,0.002936751954170602,0.00015636408281023202,0.003196401737617131,-0.0034325487106531844,0.002936745953205449,0.00015631373586002335,0.0032005959899268767,-0.0034412792707072333,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.7876269344429955e-17,4.5515172510328665e-17,-3.298654075377091e-08],"qvel":[0.00010795123127596142,0.001314315071926844,0.024716873989996644,-0.02692909270421541,1.99859726262432e-05,0.00011558227705534979,-1.375581587291003e-05,-3.2021370537038503e-07,-1.2667365566447498e-05,1.4411338781883243e-05,-1.3722377492963975e-05,-5.996849570493252e-08,-1.1730869991565286e-05,1.4584918752289047e-05,-5.5484869440776426e-17,-2.286396264412201e-17,1.22133081841073e-14,4.773785499474536e-16,-1.5286187801749804e-15,-1.3406695616771642e-08],"joint_position_rad":[-1.5445396806889096,-1.5516800099731631,1.6161119992434587,-1.6349091697370624,-1.5708021380745254,0.0262558679397869],"joint_velocity_rad_s":[0.00010795123127596142,0.001314315071926844,0.024716873989996644,-0.02692909270421541,1.99859726262432e-05,0.00011558227705534979],"linkage_position_rad":[0.002936751954170602,0.00015636408281023202,0.003196401737617131,-0.0034325487106531844,0.002936745953205449,0.00015631373586002335,0.0032005959899268767,-0.0034412792707072333],"tcp_position_m":[-0.14705889622617993,0.49553886378325224,0.3068505786048726],"tcp_quaternion_wxyz":[0.00011775861527971423,0.7071064967296148,0.7071070476319223,-0.0001077262537326808],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.7876269344429955e-17,4.5515172510328665e-17,-3.298654075377091e-08],"object_linear_velocity_m_s":[-5.5484869440776426e-17,-2.286396264412201e-17,1.22133081841073e-14],"object_angular_velocity_rad_s":[4.773784478793456e-16,-1.528618812148436e-15,-1.3406695616771657e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491245368713,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445174485474245,-1.562328680762001,1.6105231815855228,-1.645092747034285,-1.5707968096949223,0.026278751442066248,0.0],"actuator_force":[0.0012837904596381122,-21.82306760644633,-21.064384911870548,-2.3988793781899176,0.0006655925388940886,-0.00011647656586077915,-0.2935375044019732],"issued_joint_targets_rad":[-1.5445177006059938,-1.5514738968320025,1.6209735422735967,-1.6402710331887846,-1.5707980860541235,0.02627857311765782],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.8199999999998004,"joint_targets_rad":[-1.5445177006059938,-1.5514738968320025,1.6209735422735967,-1.6402710331887846,-1.5707980860541235,0.02627857311765782],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8399999999997982,"qpos":[-1.544537639111432,-1.5516552986398338,1.6165809881844377,-1.6354207508551875,-1.570801742233042,0.026258045090072697,0.0029364861943776007,0.0001563579977925682,0.0031961570719038312,-0.003432270230962578,0.002936480758755186,0.00015631241772066871,0.0032003681955029535,-0.0034409976467975364,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-4.90486423152902e-18,3.417882531018712e-17,-3.329995814548613e-08],"qvel":[9.721343272643072e-05,0.0011659380447036234,0.02233708311267675,-0.024380365156165294,1.8870029729767378e-05,0.00010368265900952561,-1.2823440451768993e-05,-2.871664130885009e-07,-1.1843285187692125e-05,1.339241374119957e-05,-1.2794026126181283e-05,-5.6071659325233124e-08,-1.1012829621436322e-05,1.3546346214198219e-05,-6.074584947306426e-17,-1.0625440346393379e-18,1.1563827714701583e-14,1.568515382090751e-15,-4.1849004026538406e-16,-5.3890709564169245e-08],"joint_position_rad":[-1.544537639111432,-1.5516552986398338,1.6165809881844377,-1.6354207508551875,-1.570801742233042,0.026258045090072697],"joint_velocity_rad_s":[9.721343272643072e-05,0.0011659380447036234,0.02233708311267675,-0.024380365156165294,1.8870029729767378e-05,0.00010368265900952561],"linkage_position_rad":[0.0029364861943776007,0.0001563579977925682,0.0031961570719038312,-0.003432270230962578,0.002936480758755186,0.00015631241772066871,0.0032003681955029535,-0.0034409976467975364],"tcp_position_m":[-0.1470600765072527,0.49554112627352337,0.3066590385430946],"tcp_quaternion_wxyz":[0.00011113697865146023,0.7071065456822346,0.7071070006411916,-0.00010171591102878705],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-4.90486423152902e-18,3.417882531018712e-17,-3.329995814548613e-08],"object_linear_velocity_m_s":[-6.074584947306426e-17,-1.0625440346393379e-18,1.1563827714701583e-14],"object_angular_velocity_rad_s":[1.5685153505355052e-15,-4.1849014525702986e-16,-5.3890709564169305e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313493021743466,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445176458949552,-1.562328124555739,1.610524533066992,-1.6450972690471664,-1.5707966244029707,0.02627857263644179,0.0],"actuator_force":[0.0011010598632310575,-21.81202704969155,-21.047743479962264,-2.4002225803728834,0.0006719120626712538,-0.00010449271640489144,-0.29352026032374956],"issued_joint_targets_rad":[-1.5445178678196076,-1.5514734537914479,1.6209747414349103,-1.6402750459728335,-1.570797919638951,0.026278411381270607],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.8399999999997982,"joint_targets_rad":[-1.5445178678196076,-1.5514734537914479,1.6209747414349103,-1.6402750459728335,-1.570797919638951,0.026278411381270607],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.859999999999796,"qpos":[-1.5445358017410646,-1.5516333994718474,1.617004843315867,-1.6358839122010045,-1.5708013691094154,0.026259997975428225,0.0029362389509230598,0.00015635250972189993,0.003195928886726038,-0.0034320118872700604,0.0029362340247991617,0.00015631123205076772,0.0032001552308302504,-0.0034407364664356763,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.1069252586895627e-18,2.326913809307215e-17,-3.3504295366294526e-08],"qvel":[8.754098254788112e-05,0.001032888529720178,0.020187497147859383,-0.02207276215757142,1.7785061047135256e-05,9.300214099796396e-05,-1.1907782994279009e-05,-2.576958554041404e-07,-1.1024877734720126e-05,1.2402741637062376e-05,-1.1881850420331933e-05,-5.2142388109961787e-08,-1.0287168589346383e-05,1.253947086617078e-05,-3.037908480714336e-17,-1.5150713216017866e-18,1.1218270798287003e-14,1.6832800240403227e-16,-1.3020926944638175e-15,-5.831914148982976e-09],"joint_position_rad":[-1.5445358017410646,-1.5516333994718474,1.617004843315867,-1.6358839122010045,-1.5708013691094154,0.026259997975428225],"joint_velocity_rad_s":[8.754098254788112e-05,0.001032888529720178,0.020187497147859383,-0.02207276215757142,1.7785061047135256e-05,9.300214099796396e-05],"linkage_position_rad":[0.0029362389509230598,0.00015635250972189993,0.003195928886726038,-0.0034320118872700604,0.0029362340247991617,0.00015631123205076772,0.0032001552308302504,-0.0034407364664356763],"tcp_position_m":[-0.14706114498183698,0.4955432356838652,0.30648623470849234],"tcp_quaternion_wxyz":[0.00010469496781059929,0.7071065874589539,0.7071069606657061,-9.58604350448238e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.1069252586895627e-18,2.326913809307215e-17,-3.3504295366294526e-08],"object_linear_velocity_m_s":[-3.037908480714336e-17,-1.5150713216017866e-18,1.1218270798287003e-14],"object_angular_velocity_rad_s":[1.6832791488122838e-16,-1.3020927057303272e-15,-5.831914148982983e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313494692560353,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445178232213292,-1.5623278539297722,1.6105259846045517,-1.6451013521083118,-1.570796456748085,0.02627841093201877,0.0],"actuator_force":[0.0009406464514540858,-21.802064327737753,-21.032716281774356,-2.4014437378965567,0.0006776745605066026,-9.373580452454178e-05,-0.29350470061903805],"issued_joint_targets_rad":[-1.5445180190359111,-1.5514732477624595,1.620976012459546,-1.6402786675584085,-1.5707977690811015,0.02627826508111089],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.859999999999796,"joint_targets_rad":[-1.5445180190359111,-1.5514732477624595,1.620976012459546,-1.6402786675584085,-1.5707977690811015,0.02627826508111089],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.879999999999794,"qpos":[-1.5445341481351447,-1.5516140184797726,1.6173879267158462,-1.6363032346432407,-1.5708010179736973,0.02626174957926097,0.0029360097610842883,0.00015634755930113488,0.0031957169156459197,-0.0034317729903535184,0.0029360052943909667,0.0001563101663183538,0.0031999569966967697,-0.003440495009574368,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-9.445793922824563e-18,-9.618285460387626e-18,-3.39434653406705e-08],"qvel":[7.882690810314233e-05,0.0009137893955060726,0.018245655481741837,-0.01998348631353562,1.673540869419604e-05,8.341621931137008e-05,-1.1020626452147651e-05,-2.3138647849090463e-07,-1.0225103872881262e-05,1.1452142087684293e-05,-1.0997714652498312e-05,-4.826476335453991e-08,-9.568709504813415e-06,1.1573774347829148e-05,1.2518161908703416e-17,-1.6151897041335157e-17,1.1154432974371055e-14,-3.5482953151771605e-16,-1.4270372975913163e-15,-2.3442464913845614e-08],"joint_position_rad":[-1.5445341481351447,-1.5516140184797726,1.6173879267158462,-1.6363032346432407,-1.5708010179736973,0.02626174957926097],"joint_velocity_rad_s":[7.882690810314233e-05,0.0009137893955060726,0.018245655481741837,-0.01998348631353562,1.673540869419604e-05,8.341621931137008e-05],"linkage_position_rad":[0.0029360097610842883,0.00015634755930113488,0.0031957169156459197,-0.0034317729903535184,0.0029360052943909667,0.0001563101663183538,0.0031999569966967697,-0.003440495009574368],"tcp_position_m":[-0.14706211224848842,0.49554519981290623,0.3063303344287721],"tcp_quaternion_wxyz":[9.845961391399115e-05,0.7071066229591684,0.7071069268077329,-9.018596272881199e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-9.445793922824563e-18,-9.618285460387626e-18,-3.39434653406705e-08],"object_linear_velocity_m_s":[1.2518161908703416e-17,-1.6151897041335157e-17,1.1154432974371055e-14],"object_angular_velocity_rad_s":[-3.5482962794394514e-16,-1.4270372739458922e-15,-2.344246491384564e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313496255764755,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445179826809616,-1.5623277979619015,1.6105274844279862,-1.6451050398449307,-1.5707963050233487,0.0262782646618862,0.0],"actuator_force":[0.000800145124685514,-21.79307472246046,-21.019146768416704,-2.4025539694913505,0.0006829343049048475,-8.408061852271942e-05,-0.2934906610682395],"issued_joint_targets_rad":[-1.5445181558106542,-1.551473220459891,1.6209773142689479,-1.6402819368422277,-1.570797632846823,0.026278132718437056],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.879999999999794,"joint_targets_rad":[-1.5445181558106542,-1.551473220459891,1.6209773142689479,-1.6402819368422277,-1.570797632846823,0.026278132718437056],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8999999999997916,"qpos":[-1.5445326599343623,-1.5515968887481417,1.6177341755626171,-1.6366828659421688,-1.5708006880264707,0.026263320537562335,0.0029357979644266115,0.00015634309325249262,0.00319552067560901,-0.003431552687733306,0.002935793912228963,0.00015630920903348785,0.0031997731593220937,-0.0034402723961246585,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.2992486915465224e-17,-1.3327034474279368e-17,-3.412943801202751e-08],"qvel":[7.097537375621977e-05,0.0008073497448720161,0.016491323546229945,-0.01809189355807265,1.5724278160848908e-05,7.48130964424139e-05,-1.0170185271231373e-05,-2.078756365875635e-07,-9.453220446818034e-06,1.0547191498501278e-05,-1.0149901353115388e-05,-4.449926198467048e-08,-8.86828350335102e-06,1.0655547049064546e-05,3.320330419251872e-17,-5.866496918845682e-17,1.1098921823139796e-14,-4.187365795684975e-15,-6.035781444302179e-16,-9.4231353068473e-08],"joint_position_rad":[-1.5445326599343623,-1.5515968887481417,1.6177341755626171,-1.6366828659421688,-1.5708006880264707,0.026263320537562335],"joint_velocity_rad_s":[7.097537375621977e-05,0.0008073497448720161,0.016491323546229945,-0.01809189355807265,1.5724278160848908e-05,7.48130964424139e-05],"linkage_position_rad":[0.0029357979644266115,0.00015634309325249262,0.00319552067560901,-0.003431552687733306,0.002935793912228963,0.00015630920903348785,0.0031997731593220937,-0.0034402723961246585],"tcp_position_m":[-0.14706298788452646,0.49554702649791016,0.3061896842328995],"tcp_quaternion_wxyz":[9.245108073553089e-05,0.707106652990514,0.7071068982644694,-8.471216456624297e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.2992486915465224e-17,-1.3327034474279368e-17,-3.412943801202751e-08],"object_linear_velocity_m_s":[3.320330419251872e-17,-5.866496918845682e-17,1.1098921823139796e-14],"object_angular_velocity_rad_s":[-4.187365834372887e-15,-6.035778610539338e-16,-9.42313530684731e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313497711742012,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544518126175201,-1.5623279005966664,1.6105289934912141,-1.6451083713949874,-1.5707961676924083,0.026278132327425836,0.0],"actuator_force":[0.0006773688201064942,-21.784963594997862,-21.006893561298057,-2.4035633706021144,0.000687739215095462,-7.541471249083997e-05,-0.29347799339965697],"issued_joint_targets_rad":[-1.5445182795435788,-1.5514733256900597,1.6209786160011275,-1.6402848887399526,-1.5707975095550681,0.026278012944775025],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.8999999999997916,"joint_targets_rad":[-1.5445182795435788,-1.5514733256900597,1.6209786160011275,-1.6402848887399526,-1.5707975095550681,0.026278012944775025],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9199999999997894,"qpos":[-1.5445313206407079,-1.5515817685909992,1.618047144119955,-1.6370265616582014,-1.5708003784192774,0.026264729378393657,0.0029356027659016835,0.00015633906368430246,0.0031953395318642603,-0.0034313500211792473,0.0029355990878338904,0.0001563083496912121,0.003199603217376041,-0.0034400676431147535,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.220085389377405e-17,-9.978641233859974e-18,-3.448673471408889e-08],"qvel":[6.390043582278573e-05,0.0007123678547498673,0.014906265979286406,-0.016379290050248466,1.4753921359041061e-05,6.709238040891277e-05,-9.361889195860859e-06,-1.868461719696017e-07,-8.715581843143692e-06,9.691951408923938e-06,-9.343897390142377e-06,-4.0887999992775353e-08,-8.193579464542679e-06,9.788607061669315e-06,1.4241494560324834e-17,-2.538338917026493e-17,1.1116962947289952e-14,5.002916401923062e-16,8.141462519482093e-16,-1.0197474957784031e-08],"joint_position_rad":[-1.5445313206407079,-1.5515817685909992,1.618047144119955,-1.6370265616582014,-1.5708003784192774,0.026264729378393657],"joint_velocity_rad_s":[6.390043582278573e-05,0.0007123678547498673,0.014906265979286406,-0.016379290050248466,1.4753921359041061e-05,6.709238040891277e-05],"linkage_position_rad":[0.0029356027659016835,0.00015633906368430246,0.0031953395318642603,-0.0034313500211792473,0.0029355990878338904,0.0001563083496912121,0.003199603217376041,-0.0034400676431147535],"tcp_position_m":[-0.14706378054900815,0.4955487235147319,0.30606279234377787],"tcp_quaternion_wxyz":[8.668373130342947e-05,0.7071066782745619,0.7071068743214333,-7.945324247150602e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.220085389377405e-17,-9.978641233859974e-18,-3.448673471408889e-08],"object_linear_velocity_m_s":[1.4241494560324834e-17,-2.538338917026493e-17,1.1116962947289952e-14],"object_angular_velocity_rad_s":[5.002916965503111e-16,8.141462169885727e-16,-1.0197474957784043e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313499062674709,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445182553854988,-1.5623281177369222,1.6105304828232134,-1.6451113818883594,-1.5707960433714419,0.026278012580272354,0.0],"actuator_force":[0.0005703360889128817,-21.777645433745874,-20.995828985198386,-2.404481110054121,0.0006921317818751049,-6.763710154267244e-05,-0.29346656375384866],"issued_joint_targets_rad":[-1.5445183914949236,-1.5514735270040085,1.6209798948766447,-1.640287554607937,-1.5707973979614827,0.026277904545987815],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.9199999999997894,"joint_targets_rad":[-1.5445183914949236,-1.5514735270040085,1.6209798948766447,-1.640287554607937,-1.5707973979614827,0.026277904545987815],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9399999999997872,"qpos":[-1.5445301154210682,-1.5515684396931828,1.6183300414665664,-1.6373377222024372,-1.570800088271661,0.026265992736881384,0.002935423284895742,0.00015633542752789035,0.0031951727486561063,-0.0034311639711219694,0.002935419944665438,0.0001563075787099628,0.0031994465544994168,-0.0034398797087755364,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.5474882413026246e-17,-9.588292512321233e-19,-3.487134317768741e-08],"qvel":[5.7524952851772826e-05,0.0006277315086176955,0.013474044005727716,-0.014828748193282284,1.382579397985157e-05,6.0163918438840185e-05,-8.599012259667335e-06,-1.6802008949222784e-07,-8.016283376191198e-06,8.888551046344228e-06,-8.58302483424025e-06,-3.7458875347292086e-08,-7.549826906151758e-06,8.974876042818226e-06,1.6143466685952685e-18,-3.977583842094521e-17,1.11655352046173e-14,-3.297949321795718e-16,8.956703644785505e-16,-4.0990649519378286e-08],"joint_position_rad":[-1.5445301154210682,-1.5515684396931828,1.6183300414665664,-1.6373377222024372,-1.570800088271661,0.026265992736881384],"joint_velocity_rad_s":[5.7524952851772826e-05,0.0006277315086176955,0.013474044005727716,-0.014828748193282284,1.382579397985157e-05,6.0163918438840185e-05],"linkage_position_rad":[0.002935423284895742,0.00015633542752789035,0.0031951727486561063,-0.0034311639711219694,0.002935419944665438,0.0001563075787099628,0.0031994465544994168,-0.0034398797087755364],"tcp_position_m":[-0.14706449807434901,0.4955502984999288,0.3059483128781696],"tcp_quaternion_wxyz":[8.116705422832332e-05,0.7071066994530091,0.707106854345525,-7.441879685341294e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.5474882413026246e-17,-9.588292512321233e-19,-3.487134317768741e-08],"object_linear_velocity_m_s":[1.6143466685952685e-18,-3.977583842094521e-17,1.11655352046173e-14],"object_angular_velocity_rad_s":[-3.2979486963450806e-16,8.9567038539087e-16,-4.099064951937833e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313500312035554,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445183718017237,-1.5623284148855847,1.610531931396602,-1.6451141028751437,-1.5707959308132058,0.026277904206386243,0.0],"actuator_force":[0.0004772575484821573,-21.77104298825043,-20.985837742220156,-2.4053155170250875,0.0006961498296504942,-6.065709145453013e-05,-0.29345625129258945],"issued_joint_targets_rad":[-1.5445184928000268,-1.5514737957919886,1.620981134481672,-1.6402899626192948,-1.570797296944218,0.0262778064281868],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.9399999999997872,"joint_targets_rad":[-1.5445184928000268,-1.5514737957919886,1.620981134481672,-1.6402899626192948,-1.570797296944218,0.0262778064281868],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.959999999999785,"qpos":[-1.5445290309331505,-1.5515567052788688,1.6185857654199947,-1.6376194263922201,-1.5707998166853183,0.026267125548246614,0.002935258593020035,0.00015633214603650604,0.003195019528500711,-0.0034309934905803036,0.0029352555579716983,0.0001563068873689373,0.00319930248017237,-0.003439707526191905,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.9969411934176788e-17,1.8312294590526673e-18,-3.502676728454477e-08],"qvel":[5.177962889866114e-05,0.0005524164254563242,0.012179834259831974,-0.01342493997743608,1.294069060252256e-05,5.394675089142297e-05,-7.883176127803737e-06,-1.511532812491879e-07,-7.357677834232322e-06,8.137652345394312e-06,-7.86894583185871e-06,-3.422887931993146e-08,-6.940344987463124e-06,8.214838787042378e-06,-1.413268481136534e-18,-2.4245842571067024e-17,1.1137779629001669e-14,9.851009193269727e-16,-9.805614890785499e-17,-4.435902789949671e-09],"joint_position_rad":[-1.5445290309331505,-1.5515567052788688,1.6185857654199947,-1.6376194263922201,-1.5707998166853183,0.026267125548246614],"joint_velocity_rad_s":[5.177962889866114e-05,0.0005524164254563242,0.012179834259831974,-0.01342493997743608,1.294069060252256e-05,5.394675089142297e-05],"linkage_position_rad":[0.002935258593020035,0.00015633214603650604,0.003195019528500711,-0.0034309934905803036,0.0029352555579716983,0.0001563068873689373,0.00319930248017237,-0.003439707526191905],"tcp_position_m":[-0.1470651475480223,0.49555175889120595,0.3058450315880049],"tcp_quaternion_wxyz":[7.590646652613432e-05,0.7071067170940785,0.7071068377780353,-6.961457847745534e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.9969411934176788e-17,1.8312294590526673e-18,-3.502676728454477e-08],"object_linear_velocity_m_s":[-1.413268481136534e-18,-2.4245842571067024e-17,1.1137779629001669e-14],"object_angular_velocity_rad_s":[9.851009124415452e-16,-9.805621809482091e-17,-4.4359027899496766e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313501464189611,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445184767463909,-1.5623287652350892,1.6105333244151883,-1.645116562706584,-1.5707958288928956,0.026277806111967558,0.0],"actuator_force":[0.000396521959828533,-21.765086482623246,-20.976815713545875,-2.406074159438276,0.0006998271511520215,-5.439322867140106e-05,-0.29344694693978834],"issued_joint_targets_rad":[-1.5445185844822782,-1.5514741097376064,1.6209823233889553,-1.6402921380990219,-1.5707972054913324,0.02627771760524737],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.959999999999785,"joint_targets_rad":[-1.5445185844822782,-1.5514741097376064,1.6209823233889553,-1.6402921380990219,-1.5707972054913324,0.02627771760524737],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.979999999999783,"qpos":[-1.5445280551709144,-1.5515463883370653,1.6188169330545465,-1.6378744618406873,-1.5707995627557636,0.026268141221128877,0.0029351077429071474,0.00015632918433900947,0.003194879042324248,-0.0034308375307440563,0.002935104983636654,0.00015630626774542684,0.0031991702612445194,-0.0034395500286486676,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-9.653209196495923e-18,-2.1224660931870576e-17,-3.545817828113509e-08],"qvel":[4.66021713540243e-05,0.00048548333317952486,0.011010266622921728,-0.012153986018183896,1.2098860489107753e-05,4.836817280413621e-05,-7.214751454057292e-06,-1.3603087229452092e-07,-6.74078713627048e-06,7.438820939645209e-06,-7.2020652297288354e-06,-3.120656234922247e-08,-6.3669811915154495e-06,7.50790878042686e-06,2.924600723750791e-17,-1.537022238328095e-17,1.1139167407782454e-14,6.227521393262245e-16,-3.567742709295576e-17,-1.7830937297474966e-08],"joint_position_rad":[-1.5445280551709144,-1.5515463883370653,1.6188169330545465,-1.6378744618406873,-1.5707995627557636,0.026268141221128877],"joint_velocity_rad_s":[4.66021713540243e-05,0.00048548333317952486,0.011010266622921728,-0.012153986018183896,1.2098860489107753e-05,4.836817280413621e-05],"linkage_position_rad":[0.0029351077429071474,0.00015632918433900947,0.003194879042324248,-0.0034308375307440563,0.002935104983636654,0.00015630626774542684,0.0031991702612445194,-0.0034395500286486676],"tcp_position_m":[-0.14706573538556045,0.4955531118829746,0.3057518529931828],"tcp_quaternion_wxyz":[7.090400789210815e-05,0.7071067316989151,0.7071068241277899,-6.504313904558369e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-9.653209196495923e-18,-2.1224660931870576e-17,-3.545817828113509e-08],"object_linear_velocity_m_s":[2.924600723750791e-17,-1.537022238328095e-17,1.1139167407782454e-14],"object_angular_velocity_rad_s":[6.227521375530216e-16,-3.5677471600520045e-17,-1.783093729747499e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313502524084537,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445185713954632,-1.5623291481212993,1.6105346519407178,-1.6451187868737542,-1.5707957365955871,0.026277717310973468,0.0],"actuator_force":[0.0003266823609919811,-21.75971290173993,-20.968668876826086,-2.4067639147151567,0.0007031940393744662,-4.877235811839853e-05,-0.29343855224377113],"issued_joint_targets_rad":[-1.5445186674646263,-1.551474451565,1.6209834540523747,-1.6402941038225676,-1.570797122689585,0.026277637187717286],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.979999999999783,"joint_targets_rad":[-1.5445186674646263,-1.551474451565,1.6209834540523747,-1.6402941038225676,-1.570797122689585,0.026277637187717286],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9999999999997806,"qpos":[-1.5445271773270797,-1.551537329924559,1.6190259081680647,-1.638105352478386,-1.5707993255818786,0.026269051793227565,0.0029349697898467687,0.00015632651104150892,0.003194750452311187,-0.0034306950599301837,0.002934967279860455,0.00015630571265359944,0.0031990491460048382,-0.003439406168363362,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-5.2199095834283495e-18,-3.2840918217622225e-17,-3.574627245276476e-08],"qvel":[4.1936547851686454e-05,0.0004260741129935319,0.009953278950323555,-0.011003318814670579,1.1300106712989563e-05,4.336289177800328e-05,-6.5931769790228736e-06,-1.2246341184363149e-07,-6.165631250859583e-06,6.790817598228689e-06,-6.581850724572467e-06,-2.8394233708671565e-08,-5.830462465007968e-06,6.852717222674621e-06,8.655639192225818e-17,-1.0962582415072326e-17,1.1114187389728389e-14,1.3130611183302443e-16,-4.284038594845979e-15,-7.167477286178189e-08],"joint_position_rad":[-1.5445271773270797,-1.551537329924559,1.6190259081680647,-1.638105352478386,-1.5707993255818786,0.026269051793227565],"joint_velocity_rad_s":[4.1936547851686454e-05,0.0004260741129935319,0.009953278950323555,-0.011003318814670579,1.1300106712989563e-05,4.336289177800328e-05],"linkage_position_rad":[0.0029349697898467687,0.00015632651104150892,0.003194750452311187,-0.0034306950599301837,0.002934967279860455,0.00015630571265359944,0.0031990491460048382,-0.003439406168363362],"tcp_position_m":[-0.147066267395896,0.49555436439428835,0.3056677887704734],"tcp_quaternion_wxyz":[6.615893970025446e-05,0.707106743707823,0.7071068129645547,-6.070439283106226e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-5.2199095834283495e-18,-3.2840918217622225e-17,-3.574627245276476e-08],"object_linear_velocity_m_s":[8.655639192225818e-17,-1.0962582415072326e-17,1.1114187389728389e-14],"object_angular_velocity_rad_s":[1.3130581026393333e-16,-4.284038604981653e-15,-7.167477286178198e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313503497011129,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445186567962552,-1.5623295477739048,1.6105359077940666,-1.645120798308702,-1.5707956530050637,0.026277636914028,0.0],"actuator_force":[0.0002664425082912203,-21.754865343889378,-20.961312328125587,-2.407391033690942,0.00070627773607157,-4.37287775838513e-05,-0.2934309783468432],"issued_joint_targets_rad":[-1.54451874257982,-1.5514748080246537,1.6209845219228542,-1.6402958802818466,-1.5707970477144488,0.026277564372955187],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.9999999999997806,"joint_targets_rad":[-1.54451874257982,-1.5514748080246537,1.6209845219228542,-1.6402958802818466,-1.5707970477144488,0.026277564372955187],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.0199999999997784,"qpos":[-1.5445263876706308,-1.5515293875596996,1.6192148260131538,-1.6383143834770646,-1.5707991042736436,0.026269868071074273,0.002934843807743442,0.00015632409787236877,0.003194632928960605,-0.0034305650773059936,0.0029348415231558607,0.00015630521558535594,0.00319893838230706,-0.003439274930021792,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-3.0893870821144137e-18,-3.7655016686226296e-17,-3.601804144610506e-08],"qvel":[3.773232913045556e-05,0.0003734073440867283,0.008997986821592674,-0.009961558891984409,1.0543870851173114e-05,3.887227222282123e-05,-6.017211962437311e-06,-1.1028361932784828e-07,-5.631488795094381e-06,6.191830527875899e-06,-6.007086157285694e-06,-2.5789619555365333e-08,-5.330674888127739e-06,6.247339071898436e-06,4.318047531704258e-17,-4.479574662020827e-18,1.1137779629001677e-14,1.8314642450056716e-16,1.2323481765052627e-15,-7.756459793501715e-09],"joint_position_rad":[-1.5445263876706308,-1.5515293875596996,1.6192148260131538,-1.6383143834770646,-1.5707991042736436,0.026269868071074273],"joint_velocity_rad_s":[3.773232913045556e-05,0.0003734073440867283,0.008997986821592674,-0.009961558891984409,1.0543870851173114e-05,3.887227222282123e-05],"linkage_position_rad":[0.002934843807743442,0.00015632409787236877,0.003194632928960605,-0.0034305650773059936,0.0029348415231558607,0.00015630521558535594,0.00319893838230706,-0.003439274930021792],"tcp_position_m":[-0.14706674883995474,0.49555552304688927,0.30559194727622757],"tcp_quaternion_wxyz":[6.166826046806504e-05,0.7071067535062387,0.707106803912799,-5.659610031819758e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-3.0893870821144137e-18,-3.7655016686226296e-17,-3.601804144610506e-08],"object_linear_velocity_m_s":[4.318047531704258e-17,-4.479574662020827e-18,1.1137779629001677e-14],"object_angular_velocity_rad_s":[1.8314651385824157e-16,1.2323481632641845e-15,-7.756459793501725e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313504388420242,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445187338828887,-1.5623299523078775,1.6105370886782813,-1.6451226176522864,-1.5707955772938562,0.026277564118561574,0.0],"actuator_force":[0.00021464383189595537,-21.750492433990075,-20.954669398382066,-2.4079611984124085,0.000709102808514217,-3.9203478632288125e-05,-0.2934241450543665],"issued_joint_targets_rad":[-1.5445188105795333,-1.5514751690734125,1.620985524743194,-1.640297485922307,-1.5707969798212056,0.026277498436343385],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.0199999999997784,"joint_targets_rad":[-1.5445188105795333,-1.5514751690734125,1.620985524743194,-1.640297485922307,-1.5707969798212056,0.026277498436343385],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.039999999999776,"qpos":[-1.544525677437519,-1.551522433714952,1.6193856155739674,-1.6385036238203698,-1.5707988979583332,0.026270599755560845,0.0029347289005927676,0.00015632191936427165,0.0031945256635505276,-0.0034304466224906703,0.0029347268198583847,0.00015630477065454906,0.0031988372309806343,-0.0034391553402100634,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,5.563390277339571e-18,-3.1424944830836265e-17,-3.6408233524316606e-08],"qvel":[3.394410664674189e-05,0.00032677350096443566,0.008134566672297953,-0.009018402616343787,9.8293051733498e-06,3.4843656969740834e-05,-5.485134840420982e-06,-9.934348161701589e-08,-5.137102611596325e-06,5.63965550872887e-06,-5.476070882922074e-06,-2.3387007647045654e-08,-4.866884112809486e-06,5.689474606408676e-06,4.368761553335098e-17,8.041488086218417e-18,1.1105860717043701e-14,5.841005655964966e-16,8.8637713364066e-16,-3.117853451201072e-08],"joint_position_rad":[-1.544525677437519,-1.551522433714952,1.6193856155739674,-1.6385036238203698,-1.5707988979583332,0.026270599755560845],"joint_velocity_rad_s":[3.394410664674189e-05,0.00032677350096443566,0.008134566672297953,-0.009018402616343787,9.8293051733498e-06,3.4843656969740834e-05],"linkage_position_rad":[0.0029347289005927676,0.00015632191936427165,0.0031945256635505276,-0.0034304466224906703,0.0029347268198583847,0.00015630477065454906,0.0031988372309806343,-0.0034391553402100634],"tcp_position_m":[-0.14706718448326692,0.49555659415143394,0.30552352409243977],"tcp_quaternion_wxyz":[5.742714821061406e-05,0.707106761430375,0.7071067966458624,-5.271428353440318e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,5.563390277339571e-18,-3.1424944830836265e-17,-3.6408233524316606e-08],"object_linear_velocity_m_s":[4.368761553335098e-17,8.041488086218417e-18,1.1105860717043701e-14],"object_angular_velocity_rad_s":[5.841006320989147e-16,8.863770914554359e-16,-3.117853451201076e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313505203784625,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.54451880348967,-1.5623303529107524,1.610538193480773,-1.645124263492518,-1.5707955087143572,0.026277498200024535,0.0],"actuator_force":[0.00017025303895934485,-21.746547791986814,-20.948670855308137,-2.408479574439866,0.000711691470542064,-3.514346512822897e-05,-0.2934179799939409],"issued_joint_targets_rad":[-1.5445188721425156,-1.5514755272124352,1.620986461987357,-1.6402989373543027,-1.5707969183369825,0.026277438723443975],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.039999999999776,"joint_targets_rad":[-1.5445188721425156,-1.5514755272124352,1.620986461987357,-1.6402989373543027,-1.5707969183369825,0.026277438723443975],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.059999999999774,"qpos":[-1.5445250387330065,-1.5515163544120003,1.619540019639246,-1.6386749467431883,-1.570798705785394,0.026271255554679344,0.002934624210440158,0.00015631995257055673,0.003194427876994698,-0.0034303387819547455,0.002934622314114616,0.0001563043725433851,0.0031987449755184745,-0.0034390464736610647,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,6.1805310472846214e-18,-1.9825776952523986e-17,-3.652645306795568e-08],"qvel":[3.0530975433521425e-05,0.00028552999428294913,0.007354150860015752,-0.00816452058589109,9.155334038437605e-06,3.12297582354677e-05,-4.99489868721522e-06,-8.951175855134878e-08,-4.680841405673662e-06,5.131838062531679e-06,-4.986775832711523e-06,-2.1178373679163374e-08,-4.437910553206223e-06,5.176584660417168e-06,2.5159932509954915e-17,6.919972407840766e-18,1.1062839574839473e-14,-2.0193282927375657e-16,1.267049126245912e-15,-3.3740609102325655e-09],"joint_position_rad":[-1.5445250387330065,-1.5515163544120003,1.619540019639246,-1.6386749467431883,-1.570798705785394,0.026271255554679344],"joint_velocity_rad_s":[3.0530975433521425e-05,0.00028552999428294913,0.007354150860015752,-0.00816452058589109,9.155334038437605e-06,3.12297582354677e-05],"linkage_position_rad":[0.002934624210440158,0.00015631995257055673,0.003194427876994698,-0.0034303387819547455,0.002934622314114616,0.0001563043725433851,0.0031987449755184745,-0.0034390464736610647],"tcp_position_m":[-0.14706757864328007,0.4955575837003097,0.3054617934964271],"tcp_quaternion_wxyz":[5.342933887870546e-05,0.7071067677724878,0.7071067908805546,-4.905358165728619e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,6.1805310472846214e-18,-1.9825776952523986e-17,-3.652645306795568e-08],"object_linear_velocity_m_s":[2.5159932509954915e-17,6.919972407840766e-18,1.1062839574839473e-14],"object_angular_velocity_rad_s":[-2.0193273657834864e-16,1.2670491410393973e-15,-3.37406091023257e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931350594849635,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445188663627032,-1.5623307431888533,1.6105392227200024,-1.64512575257679,-1.570795446590877,0.026277438504043817,0.0],"actuator_force":[0.00013235043343229336,-21.742989551419214,-20.943254182493547,-2.4089508582117105,0.0007140638546161426,-3.1501141311451875e-05,-0.29341241785513905],"issued_joint_targets_rad":[-1.5445189278818712,-1.551475876953497,1.6209873344162278,-1.6403002495416361,-1.5707968626536306,0.026277384642992608],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.059999999999774,"joint_targets_rad":[-1.5445189278818712,-1.551475876953497,1.6209873344162278,-1.6403002495416361,-1.5707968626536306,0.026277384642992608],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.079999999999772,"qpos":[-1.544524464444303,-1.551511047920113,1.619679612895433,-1.638830048240548,-1.5707985269302165,0.026271843284780477,0.002934528922597557,0.00015631817681066514,0.003194338825868181,-0.003430240692918532,0.0029345271931250382,0.00015630401645287009,0.003198660928838106,-0.003438947457021812,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.1108890465298974e-17,-5.008851885750763e-19,-3.7001658537908895e-08],"qvel":[2.7456074010866052e-05,0.0002490961975585271,0.006648733386146183,-0.007391465602505584,8.52070595961255e-06,2.7988110805958115e-05,-4.5442520105063275e-06,-8.067205272442172e-08,-4.260826278780277e-06,4.665780347711572e-06,-4.536964792290156e-06,-1.9154109798753673e-08,-4.042266309213107e-06,4.705999025589553e-06,5.891182980882549e-18,9.343419974923126e-18,1.1097534044359007e-14,-3.806783761436019e-16,8.758280072915021e-16,-1.3562666130676104e-08],"joint_position_rad":[-1.544524464444303,-1.551511047920113,1.619679612895433,-1.638830048240548,-1.5707985269302165,0.026271843284780477],"joint_velocity_rad_s":[2.7456074010866052e-05,0.0002490961975585271,0.006648733386146183,-0.007391465602505584,8.52070595961255e-06,2.7988110805958115e-05],"linkage_position_rad":[0.002934528922597557,0.00015631817681066514,0.003194338825868181,-0.003430240692918532,0.0029345271931250382,0.00015630401645287009,0.003198660928838106,-0.003438947457021812],"tcp_position_m":[-0.14706793523195577,0.4955584973656968,0.3054061007640654],"tcp_quaternion_wxyz":[4.966744901190576e-05,0.7071067727857456,0.7071067863722018,-4.560755446158367e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.1108890465298974e-17,-5.008851885750763e-19,-3.7001658537908895e-08],"object_linear_velocity_m_s":[5.891182980882549e-18,9.343419974923126e-18,1.1097534044359007e-14],"object_angular_velocity_rad_s":[-3.8067831131583696e-16,8.758280357642959e-16,-1.3562666130676122e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313506627792398,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445189231699958,-1.5623311186424154,1.6105401781085205,-1.6451271000009808,-1.5707953903125336,0.026277384439417063,0.0],"actuator_force":[0.00010011901031248271,-21.739779923627793,-20.938362928283368,-2.409379319965865,0.0007162382454453109,-2.8233762302320997e-05,-0.29340739970211577],"issued_joint_targets_rad":[-1.544518978351578,-1.5514762143894874,1.6209881437271456,-1.6403014359698747,-1.570796812221343,0.026277335660633012],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.079999999999772,"joint_targets_rad":[-1.544518978351578,-1.5514762143894874,1.6209881437271456,-1.6403014359698747,-1.570796812221343,0.026277335660633012],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.0999999999997696,"qpos":[-1.5445239481623225,-1.5515064235561886,1.619805818239939,-1.6389704638280964,-1.5707983605969644,0.026272369961522365,0.002934442268739718,0.00015631657344258623,0.0031942578062353036,-0.0034301515453508324,0.002934440690263191,0.00015630369805632487,0.0031985844377637193,-0.003438857470733213,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,7.218492352732143e-18,-1.2897816917046298e-17,-3.7318722157827195e-08],"qvel":[2.468617437935112e-05,0.00021694856393867357,0.006011085142406877,-0.006691589323607462,7.92403761122882e-06,2.50805810315393e-05,-4.1308316571708324e-06,-7.272089278666786e-08,-3.875028040045036e-06,4.238825025896656e-06,-4.124287720840728e-06,-1.7303675293203244e-08,-3.6782615695217205e-06,4.274996967553416e-06,4.499665729104829e-17,5.1645209534597576e-18,1.1082268477770408e-14,-2.326053132020013e-16,-2.7829244577833733e-15,-5.451766208914301e-08],"joint_position_rad":[-1.5445239481623225,-1.5515064235561886,1.619805818239939,-1.6389704638280964,-1.5707983605969644,0.026272369961522365],"joint_velocity_rad_s":[2.468617437935112e-05,0.00021694856393867357,0.006011085142406877,-0.006691589323607462,7.92403761122882e-06,2.50805810315393e-05],"linkage_position_rad":[0.002934442268739718,0.00015631657344258623,0.0031942578062353036,-0.0034301515453508324,0.002934440690263191,0.00015630369805632487,0.0031985844377637193,-0.003438857470733213],"tcp_position_m":[-0.14706825779416507,0.49555934050177597,0.30535585522526887],"tcp_quaternion_wxyz":[4.6133249781913835e-05,0.707106776688701,0.7071067829101282,-4.236894030414058e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,7.218492352732143e-18,-1.2897816917046298e-17,-3.7318722157827195e-08],"object_linear_velocity_m_s":[4.499665729104829e-17,5.1645209534597576e-18,1.1082268477770408e-14],"object_angular_velocity_rad_s":[-2.3260551950605254e-16,-2.7829244396352325e-15,-5.451766208914308e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313507246702464,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445189745102788,-1.5623314762450982,1.6105410622095708,-1.6451283193781208,-1.5707953393268803,0.026277335471847425,0.0],"actuator_force":[7.283433615157264e-05,-21.736884803394787,-20.93394611769918,-2.409768842651374,0.0007182312808708957,-2.530294062275118e-05,-0.2934028723532554],"issued_joint_targets_rad":[-1.544519023712516,-1.5514765435872035,1.620988894532022,-1.640302501507862,-1.5707967668146845,0.0262772916383078],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.0999999999997696,"joint_targets_rad":[-1.544519023712516,-1.5514765435872035,1.620988894532022,-1.640302501507862,-1.5707967668146845,0.0262772916383078],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.1199999999997674,"qpos":[-1.5445234841162676,-1.5515024010816165,1.6199199217295017,-1.6390975830630488,-1.570798206046268,0.026272841913039597,0.0029343635302779233,0.0001563151258110808,0.003194184157630285,-0.003430070585586382,0.0029343620886003465,0.00015630341400368905,0.003198514889053101,-0.0034387757527379703,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,4.84208875821681e-18,-1.7000972389018542e-17,-3.752543659239967e-08],"qvel":[2.2192771062257605e-05,0.00018858550409690342,0.005434688479918255,-0.006057932799085333,7.362534658125046e-06,2.2474510036842146e-05,-3.7521897917824295e-06,-6.554291609457604e-08,-3.5213001314548976e-06,3.8483104174660605e-06,-3.746325263799543e-06,-1.566893513502064e-08,-3.3443559381908553e-06,3.8807979518038665e-06,2.0753212182572078e-17,5.460275813292348e-18,1.1082268477770408e-14,-2.810448551288853e-16,5.809626761218291e-16,-5.899761340654809e-09],"joint_position_rad":[-1.5445234841162676,-1.5515024010816165,1.6199199217295017,-1.6390975830630488,-1.570798206046268,0.026272841913039597],"joint_velocity_rad_s":[2.2192771062257605e-05,0.00018858550409690342,0.005434688479918255,-0.006057932799085333,7.362534658125046e-06,2.2474510036842146e-05],"linkage_position_rad":[0.0029343635302779233,0.0001563151258110808,0.003194184157630285,-0.003430070585586382,0.0029343620886003465,0.00015630341400368905,0.003198514889053101,-0.0034387757527379703],"tcp_position_m":[-0.14706854952540008,0.4955601178457145,0.3053105240656504],"tcp_quaternion_wxyz":[4.2818050355243835e-05,0.7071067796821531,0.7071067803007547,-3.933000069974196e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.84208875821681e-18,-1.7000972389018542e-17,-3.752543659239967e-08],"object_linear_velocity_m_s":[2.0753212182572078e-17,5.460275813292348e-18,1.1082268477770408e-14],"object_angular_velocity_rad_s":[-2.810448113265254e-16,5.809626972716244e-16,-5.899761340654817e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313507809995315,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544519020580934,-1.5623318208356014,1.6105418804221308,-1.6451294156988752,-1.5707952934060252,0.026277291463333997,0.0],"actuator_force":[4.996224242859171e-05,-21.734273709608715,-20.929958006709057,-2.4101230380047127,0.0007200666556173019,-2.2675856483189705e-05,-0.2933987883686356],"issued_joint_targets_rad":[-1.5445190634408494,-1.5514769762487062,1.6209897009567822,-1.640303501430131,-1.5707967305290103,0.026277253169531552],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.1199999999997674,"joint_targets_rad":[-1.5445190634408494,-1.5514769762487062,1.6209897009567822,-1.640303501430131,-1.5707967305290103,0.026277253169531552],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.139999999999765,"qpos":[-1.5445230675274098,-1.5514989181912036,1.6200230960251325,-1.639212668239615,-1.5707980629824498,0.026273264914537263,0.002934292041781891,0.00015631381833413057,0.003194117273483853,-0.003429997123690767,0.002934290726268374,0.00015630316774100918,0.0031984517458140006,-0.0034387016053241347,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.3104185335557983e-17,-2.4485223459196003e-17,-3.796971577254769e-08],"qvel":[1.9953106864037032e-05,0.00016307079723868354,0.004914162591089786,-0.005484425487170504,6.812877013865293e-06,2.014373397973192e-05,-3.4052033774843206e-06,-5.835764645470924e-08,-3.197789832343713e-06,3.490279836722382e-06,-3.400283546562628e-06,-1.5106841634393846e-08,-3.0450651771001126e-06,3.5181864241928905e-06,3.302033875448288e-17,-1.6302437133614243e-17,1.104618622947009e-14,-6.7927190570016695e-16,3.458055814666309e-16,-2.371518933499869e-08],"joint_position_rad":[-1.5445230675274098,-1.5514989181912036,1.6200230960251325,-1.639212668239615,-1.5707980629824498,0.026273264914537263],"joint_velocity_rad_s":[1.9953106864037032e-05,0.00016307079723868354,0.004914162591089786,-0.005484425487170504,6.812877013865293e-06,2.014373397973192e-05],"linkage_position_rad":[0.002934292041781891,0.00015631381833413057,0.003194117273483853,-0.003429997123690767,0.002934290726268374,0.00015630316774100918,0.0031984517458140006,-0.0034387016053241347],"tcp_position_m":[-0.14706881292386825,0.4955608307732053,0.305269626414766],"tcp_quaternion_wxyz":[3.971183754277563e-05,0.7071067821218776,0.7071067781950034,-3.648143709407327e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.3104185335557983e-17,-2.4485223459196003e-17,-3.796971577254769e-08],"object_linear_velocity_m_s":[3.302033875448288e-17,-1.6302437133614243e-17,1.104618622947009e-14],"object_angular_velocity_rad_s":[-6.792718782785433e-16,3.458056324286163e-16,-2.3715189334998723e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313508321857496,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544519060887857,-1.5623322646193316,1.6105427475852432,-1.6451304443641368,-1.5707952566442716,0.026277253007449413,0.0],"actuator_force":[3.2036359698395245e-05,-21.73192117515191,-20.92636191621432,-2.4104455135437775,0.0007218813877898356,-2.0326941896797734e-05,-0.293395110967893],"issued_joint_targets_rad":[-1.5445190978418606,-1.551477356811719,1.6209904192659714,-1.6403044044960262,-1.5707967017967213,0.02627722051683427],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.139999999999765,"joint_targets_rad":[-1.5445190978418606,-1.551477356811719,1.6209904192659714,-1.6403044044960262,-1.5707967017967213,0.02627722051683427],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.159999999999763,"qpos":[-1.5445226927628568,-1.551495909588838,1.6201163873843,-1.6393168580139479,-1.5707979310240392,0.026273644214025667,0.002934227170683088,0.00015631263928820305,0.0031940565514553118,-0.003429930482344174,0.00293422596631696,0.00015630293764268792,0.0031983943657791954,-0.0034386343451105754,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-9.381348873243243e-18,-1.6254753721926613e-17,-3.815785200858669e-08],"qvel":[1.7948880106638818e-05,0.0001407593056402206,0.004443440062005978,-0.004965201040451782,6.283527399303906e-06,1.8063051588427828e-05,-3.0894984870990113e-06,-5.2821716207922544e-08,-2.901868063256139e-06,3.1660332270284978e-06,-3.0850721943369917e-06,-1.3630618458087214e-08,-2.7637114211406872e-06,3.1914107478254728e-06,3.073162892283744e-17,7.645275552990122e-18,1.0964307281403985e-14,3.1209980206560747e-15,-7.486375292716066e-17,-9.532761966478429e-08],"joint_position_rad":[-1.5445226927628568,-1.551495909588838,1.6201163873843,-1.6393168580139479,-1.5707979310240392,0.026273644214025667],"joint_velocity_rad_s":[1.7948880106638818e-05,0.0001407593056402206,0.004443440062005978,-0.004965201040451782,6.283527399303906e-06,1.8063051588427828e-05],"linkage_position_rad":[0.002934227170683088,0.00015631263928820305,0.0031940565514553118,-0.003429930482344174,0.00293422596631696,0.00015630293764268792,0.0031983943657791954,-0.0034386343451105754],"tcp_position_m":[-0.14706905104227738,0.4955614846903605,0.3052327296438651],"tcp_quaternion_wxyz":[3.680465026964385e-05,0.7071067838749125,0.7071067767318484,-3.381405977255544e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-9.381348873243243e-18,-1.6254753721926613e-17,-3.815785200858669e-08],"object_linear_velocity_m_s":[3.073162892283744e-17,7.645275552990122e-18,1.0964307281403985e-14],"object_angular_velocity_rad_s":[3.120998018041844e-15,-7.486399289692517e-17,-9.532761966478444e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313508787371959,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445190957605666,-1.562332652663729,1.6105435206085221,-1.645131374253352,-1.5707952274727783,0.026277220366778705,0.0],"actuator_force":[1.445253792553558e-05,-21.7297898720376,-20.923109576358456,-2.410738015656875,0.0007234228904735573,-1.822878232360381e-05,-0.2933917839965952],"issued_joint_targets_rad":[-1.5445191313373225,-1.5514776793950613,1.6209910438671604,-1.6403052057416176,-1.5707966690767374,0.0262771882474913],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.159999999999763,"joint_targets_rad":[-1.5445191313373225,-1.5514776793950613,1.6209910438671604,-1.6403052057416176,-1.5707966690767374,0.0262771882474913],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.179999999999761,"qpos":[-1.5445223557964778,-1.5514933142620515,1.6202007402329266,-1.6394111822595876,-1.5707978087513288,0.026273984062307798,0.0029341683313506397,0.00015631157403998944,0.0031940014625503987,-0.0034298700556550234,0.0029341672268909024,0.00015630273041956425,0.0031983422943507715,-0.003438573359089455,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,2.843701355732315e-18,-1.323648071751309e-17,-3.851930542098585e-08],"qvel":[1.6130982283043973e-05,0.0001213418079060288,0.004017699912935802,-0.004495052717433673,5.824197120916108e-06,1.6183564451803854e-05,-2.801727857473677e-06,-4.791628848296653e-08,-2.6321973608713662e-06,2.8702170535411287e-06,-2.797585072542895e-06,-1.19616508203294e-08,-2.5050904874182444e-06,2.8935105489320675e-06,1.7581197423426887e-17,8.014366621414644e-19,1.0901857236268819e-14,3.2817899654685415e-16,5.644950430436915e-16,-1.0316110112633693e-08],"joint_position_rad":[-1.5445223557964778,-1.5514933142620515,1.6202007402329266,-1.6394111822595876,-1.5707978087513288,0.026273984062307798],"joint_velocity_rad_s":[1.6130982283043973e-05,0.0001213418079060288,0.004017699912935802,-0.004495052717433673,5.824197120916108e-06,1.6183564451803854e-05],"linkage_position_rad":[0.0029341683313506397,0.00015631157403998944,0.0031940014625503987,-0.0034298700556550234,0.0029341672268909024,0.00015630273041956425,0.0031983422943507715,-0.003438573359089455],"tcp_position_m":[-0.14706926640393556,0.4955620852828224,0.30519944241199026],"tcp_quaternion_wxyz":[3.408713752379977e-05,0.7071067850234583,0.7071067758343959,-3.1319973761559447e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,2.843701355732315e-18,-1.323648071751309e-17,-3.851930542098585e-08],"object_linear_velocity_m_s":[1.7581197423426887e-17,8.014366621414644e-19,1.0901857236268819e-14],"object_angular_velocity_rad_s":[3.2817904030786556e-16,5.6449501781990855e-16,-1.031611011263371e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313509210051103,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445191296405665,-1.5623329797162686,1.6105441944875754,-1.6451322005080904,-1.5707951943459268,0.026277188108645627,0.0],"actuator_force":[-8.109054761007428e-08,-21.727867631596837,-20.920171455876698,-2.4110038525079744,0.0007247829888683555,-1.633327626393566e-05,-0.293388781347427],"issued_joint_targets_rad":[-1.544519161443846,-1.5514779848643567,1.6209916193733402,-1.6403059320691438,-1.5707966395072401,0.02627716014738613],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.179999999999761,"joint_targets_rad":[-1.544519161443846,-1.5514779848643567,1.6209916193733402,-1.6403059320691438,-1.5707966395072401,0.02627716014738613],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.1999999999997586,"qpos":[-1.5445220530796446,-1.5514910809921738,1.6202770120947751,-1.6394965750933814,-1.5707976954908383,0.026274288622926942,0.0029341149915171915,0.00015631061122233061,0.0031939515122865764,-0.003429815298470679,0.0029341139788104658,0.000156302548543274,0.0031982950927736016,-0.0034385180950640133,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,7.506727909170713e-18,-5.731080511067173e-18,-3.890838833387915e-08],"qvel":[1.4493198249896442e-05,0.00010431025515585098,0.0036328100850323403,-0.00406941860853272,5.394785428840512e-06,1.4503369647533421e-05,-2.539233248318331e-06,-4.320169172464007e-08,-2.3861689298409127e-06,2.6003545406371627e-06,-2.5355044809584346e-06,-1.0767847396875138e-08,-2.2715337035907417e-06,2.6213166825047206e-06,2.9963063078825133e-18,1.6839260498270824e-17,1.0992062857019611e-14,2.5007504734821657e-16,7.967486934979979e-16,-4.146752561596241e-08],"joint_position_rad":[-1.5445220530796446,-1.5514910809921738,1.6202770120947751,-1.6394965750933814,-1.5707976954908383,0.026274288622926942],"joint_velocity_rad_s":[1.4493198249896442e-05,0.00010431025515585098,0.0036328100850323403,-0.00406941860853272,5.394785428840512e-06,1.4503369647533421e-05],"linkage_position_rad":[0.0029341149915171915,0.00015631061122233061,0.0031939515122865764,-0.003429815298470679,0.0029341139788104658,0.000156302548543274,0.0031982950927736016,-0.0034385180950640133],"tcp_position_m":[-0.14706946106365965,0.4955626367486679,0.30516941138429843],"tcp_quaternion_wxyz":[3.154986430969978e-05,0.7071067857874028,0.7071067752875467,-2.8990690287809903e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,7.506727909170713e-18,-5.731080511067173e-18,-3.890838833387915e-08],"object_linear_velocity_m_s":[2.9963063078825133e-18,1.6839260498270824e-17,1.0992062857019611e-14],"object_angular_velocity_rad_s":[2.500751098239388e-16,7.967486746605334e-16,-4.1467525615962474e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931350959343544,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445191600605683,-1.5623332871385716,1.6105448143679504,-1.6451329501342322,-1.5707951643995357,0.026277160018980988,0.0],"actuator_force":[-1.124114760386874e-05,-21.72613639485735,-20.917519487662048,-2.4112456595721596,0.000726067108416828,-1.4638937731348278e-05,-0.2933860748277365],"issued_joint_targets_rad":[-1.5445191888237764,-1.5514782671882228,1.6209921435720616,-1.6403065883379748,-1.570796612748059,0.026277134153488195],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.1999999999997586,"joint_targets_rad":[-1.5445191888237764,-1.5514782671882228,1.6209921435720616,-1.6403065883379748,-1.570796612748059,0.026277134153488195],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.2199999999997564,"qpos":[-1.5445217811797203,-1.5514891646221796,1.620345977653643,-1.639573881959942,-1.570797590636883,0.026274561489762708,0.0029340666606614335,0.0001563097417999618,0.0031939062431076176,-0.0034297656992506725,0.0029340657309391547,0.00015630238609310937,0.003198252311873615,-0.0034384680369506444,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,6.781026753596657e-18,-4.512580035777136e-19,-3.906562061021569e-08],"qvel":[1.3018209810073322e-05,8.941313094678497e-05,0.003284815579975922,-0.003684076238726556,4.9943345836207925e-06,1.2993891195952505e-05,-2.3003655618717527e-06,-3.900319986678357e-08,-2.16211158842711e-06,2.355116073057164e-06,-2.2970002682476694e-06,-9.68863813648236e-09,-2.0585438241959844e-06,2.374029695687348e-06,2.0676228013181276e-18,8.033437482163507e-18,1.0980960626773355e-14,-1.4879718375559488e-16,1.9928230401147382e-16,-4.487509096073159e-09],"joint_position_rad":[-1.5445217811797203,-1.5514891646221796,1.620345977653643,-1.639573881959942,-1.570797590636883,0.026274561489762708],"joint_velocity_rad_s":[1.3018209810073322e-05,8.941313094678497e-05,0.003284815579975922,-0.003684076238726556,4.9943345836207925e-06,1.2993891195952505e-05],"linkage_position_rad":[0.0029340666606614335,0.0001563097417999618,0.0031939062431076176,-0.0034297656992506725,0.0029340657309391547,0.00015630238609310937,0.003198252311873615,-0.0034384680369506444],"tcp_position_m":[-0.147069636993041,0.49556314298256054,0.30514231807918657],"tcp_quaternion_wxyz":[2.918333567305843e-05,0.7071067862259737,0.7071067750363611,-2.681761714998345e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,6.781026753596657e-18,-4.512580035777136e-19,-3.906562061021569e-08],"object_linear_velocity_m_s":[2.0676228013181276e-18,8.033437482163507e-18,1.0980960626773355e-14],"object_angular_velocity_rad_s":[-1.4879716818137083e-16,1.99282315698042e-16,-4.487509096073165e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313509941100383,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544519187696056,-1.5623335693250793,1.6105453785183486,-1.6451336280922095,-1.5707951372914235,0.026277134034800188,0.0],"actuator_force":[-2.031659550993936e-05,-21.72457465817797,-20.9151245025796,-2.4114654422612603,0.0007272392713275622,-1.3116600854345961e-05,-0.29338363275087886],"issued_joint_targets_rad":[-1.5445383798845895,-1.5545491001602751,1.5771132473648717,-1.593575872842806,-1.5707807903625388,0.026257985376521974],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.2199999999997564,"joint_targets_rad":[-1.5445383798845895,-1.5545491001602751,1.5771132473648717,-1.593575872842806,-1.5707807903625388,0.026257985376521974],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.239999999999754,"qpos":[-1.5445225793712651,-1.551533830641314,1.6191540888264797,-1.638135541321788,-1.5707962486678055,0.02627306243294224,0.0029487684950911057,0.00015927622687493455,0.0031998462915500334,-0.0034554027835418926,0.0029484696074815082,0.0001566183432173242,0.0031948678822076512,-0.00346579568760422,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,2.740366320278964e-18,-1.430952235954502e-17,-3.9502050546356727e-08],"qvel":[0.00017123124163710018,-0.0020743037936018197,-0.12600651036589483,0.1400584737512633,7.868991273324739e-05,-7.632927058835423e-05,0.0007760327399085932,8.000511988837485e-05,0.0005733352844726577,-0.0010884253164227641,0.0007649512546904043,2.7679286377519172e-05,0.00037103353696508437,-0.0011318554469952515,1.9882730021964307e-17,4.64870516037933e-18,1.0939327263349909e-14,-2.3966059032627817e-16,-7.202487957922123e-17,-1.8038378454829893e-08],"joint_position_rad":[-1.5445225793712651,-1.551533830641314,1.6191540888264797,-1.638135541321788,-1.5707962486678055,0.02627306243294224],"joint_velocity_rad_s":[0.00017123124163710018,-0.0020743037936018197,-0.12600651036589483,0.1400584737512633,7.868991273324739e-05,-7.632927058835423e-05],"linkage_position_rad":[0.0029487684950911057,0.00015927622687493455,0.0031998462915500334,-0.0034554027835418926,0.0029484696074815082,0.0001566183432173242,0.0031948678822076512,-0.00346579568760422],"tcp_position_m":[-0.14706859817212117,0.495525715909622,0.3056061161971996],"tcp_quaternion_wxyz":[0.0001019130865940571,0.7071065320282072,0.7071070163820011,-9.674765444653595e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,2.740366320278964e-18,-1.430952235954502e-17,-3.9502050546356727e-08],"object_linear_velocity_m_s":[1.9882730021964307e-17,4.64870516037933e-18,1.0939327263349909e-14],"object_angular_velocity_rad_s":[-2.396605955002975e-16,-7.20248605461881e-17,-1.803837845482992e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313675833469137,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445369393123571,-1.5654094929603366,1.5805452713987733,-1.6151312518643062,-1.5707793102994314,0.026257984110603268,0.0],"actuator_force":[-0.0972123788387762,-26.921603120604686,-26.815030709054554,-2.5037026463854772,0.0006001929136800754,9.376588934983943e-05,-0.3025668251016257],"issued_joint_targets_rad":[-1.5445365117999712,-1.5546548363813142,1.5760749414326185,-1.5924305769895053,-1.570780867724084,0.026259844683051106],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.239999999999754,"joint_targets_rad":[-1.5445365117999712,-1.5546548363813142,1.5760749414326185,-1.5924305769895053,-1.570780867724084,0.026259844683051106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.259999999999752,"qpos":[-1.544529376374941,-1.5516453534042567,1.6155226821464577,-1.634216212356191,-1.5707939193389966,0.02627177992374366,0.0029565060054748626,0.00015794695746011974,0.0032113007280732105,-0.0034590926892403857,0.0029563673082632826,0.00015725569622153206,0.0032131772150510228,-0.003468242879006493,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.8788432669174335e-18,-3.273221545211638e-17,-3.979349634148175e-08],"qvel":[-0.0008534801047634895,-0.012573409356966716,-0.19824003700927034,0.2113580942816798,3.7421057438345556e-05,-5.988165151146893e-05,-0.0001707309790519083,-0.00020356742711658565,0.00042887609061141986,0.0009569723727294147,-0.00014252586094388078,-1.3706303169240227e-05,0.0010709182170270497,0.001028585116837925,1.0974078844276178e-16,-8.199016649625294e-19,1.0943490599692259e-14,-1.3383927425454062e-15,-6.662900789438512e-15,-7.250862122250472e-08],"joint_position_rad":[-1.544529376374941,-1.5516453534042567,1.6155226821464577,-1.634216212356191,-1.5707939193389966,0.02627177992374366],"joint_velocity_rad_s":[-0.0008534801047634895,-0.012573409356966716,-0.19824003700927034,0.2113580942816798,3.7421057438345556e-05,-5.988165151146893e-05],"linkage_position_rad":[0.0029565060054748626,0.00015794695746011974,0.0032113007280732105,-0.0034590926892403857,0.0029563673082632826,0.00015725569622153206,0.0032131772150510228,-0.003468242879006493],"tcp_position_m":[-0.14706592764589407,0.4955305795436757,0.30705346048305293],"tcp_quaternion_wxyz":[0.00016509434359740426,0.7071084703704088,0.7071050550062602,-0.0001582999421989295],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.8788432669174335e-18,-3.273221545211638e-17,-3.979349634148175e-08],"object_linear_velocity_m_s":[1.0974078844276178e-16,-8.199016649625294e-19,1.0943490599692259e-14],"object_angular_velocity_rad_s":[-1.3383932680789048e-15,-6.66290068333733e-15,-7.250862122250484e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931346148256006,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445321517748907,-1.5655261446424784,1.5656269559170215,-1.5972510020485262,-1.5707793799523444,0.02625984138235464,0.0],"actuator_force":[0.3358412420056993,-22.732218733656737,-20.495437655164096,-2.6532042743356214,0.0035275875821980662,1.8894456635720758e-05,-0.2940773814869283],"issued_joint_targets_rad":[-1.5445410193867768,-1.5547235736448761,1.5725282468883732,-1.5888141544953387,-1.5707808879844816,0.026255344257437523],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.259999999999752,"joint_targets_rad":[-1.5445410193867768,-1.5547235736448761,1.5725282468883732,-1.5888141544953387,-1.5707808879844816,0.026255344257437523],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.27999999999975,"qpos":[-1.5445354332181742,-1.5519225982643385,1.6114377885159672,-1.629889472116942,-1.5707932256155308,0.026270230629976153,0.002952840527744693,0.00015621146142177992,0.00321262759012982,-0.0034474586251471793,0.002952878065125216,0.00015647875014141656,0.003217780766613948,-0.0034562523811598913,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-6.976906540149115e-18,-4.433212917483083e-17,-4.006842703482534e-08],"qvel":[-0.00016420712659840478,-0.015564136834872126,-0.19748440915255802,0.20664537138188305,4.1820748266747205e-05,-7.499909429106931e-05,-0.0003014595749454228,-5.158911864993136e-05,-0.00013717504724045155,0.000530078150602688,-0.0002977223904644724,-2.7832280975817815e-05,-4.7594731166616834e-05,0.0005539379007559198,5.0233153406233416e-17,-5.870894759110724e-18,1.0931000590665223e-14,6.239128804139719e-17,1.2762086933320955e-15,-7.846696721023083e-09],"joint_position_rad":[-1.5445354332181742,-1.5519225982643385,1.6114377885159672,-1.629889472116942,-1.5707932256155308,0.026270230629976153],"joint_velocity_rad_s":[-0.00016420712659840478,-0.015564136834872126,-0.19748440915255802,0.20664537138188305,4.1820748266747205e-05,-7.499909429106931e-05],"linkage_position_rad":[0.002952840527744693,0.00015621146142177992,0.00321262759012982,-0.0034474586251471793,0.002952878065125216,0.00015647875014141656,0.003217780766613948,-0.0034562523811598913],"tcp_position_m":[-0.1470630165011343,0.4955281464645295,0.30876593994949236],"tcp_quaternion_wxyz":[0.00015201546429692995,0.7071100668122228,0.7071034640559535,-0.00014637002059349343],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-6.976906540149115e-18,-4.433212917483083e-17,-4.006842703482534e-08],"object_linear_velocity_m_s":[5.0233153406233416e-17,-5.870894759110724e-18,1.0931000590665223e-14],"object_angular_velocity_rad_s":[6.239139100846845e-17,1.2762086882227606e-15,-7.846696721023095e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931333144486746,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445365292156055,-1.5655920366407,1.5620778316448807,-1.5936344572160261,-1.5707793979755194,0.026255340920474424,0.0],"actuator_force":[0.06349085577676306,-21.11322201877374,-19.726150081149626,-2.53702968773041,0.0027317451791759595,5.505467824207244e-05,-0.292290019816446],"issued_joint_targets_rad":[-1.5445463124932575,-1.5548048076192484,1.56831013167983,-1.5845152752183878,-1.5707807739016983,0.02625006002224543],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.27999999999975,"joint_targets_rad":[-1.5445463124932575,-1.5548048076192484,1.56831013167983,-1.5845152752183878,-1.5707807739016983,0.02625006002224543],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.2999999999997476,"qpos":[-1.544535790276298,-1.5522011561582065,1.6073408628089292,-1.6255789434793406,-1.5707920581209363,0.026268321849256464,0.0029492704809241017,0.00015611494686148928,0.0032096382157536236,-0.003443611510415,0.002949289773345617,0.0001563654529086145,0.003214875053389275,-0.003452132496615052,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.3813592367174614e-17,-4.628975559586799e-17,-4.046315852086005e-08],"qvel":[-0.00013128969475645696,-0.014780164289277899,-0.19819064166102263,0.20653310939386918,4.6524747429097005e-05,-9.213370751517428e-05,-0.00027213019241482077,-3.124921659927318e-05,-0.00016684890409368085,0.00039083743224662624,-0.00026761448941896147,-6.538416114794048e-06,-8.42696728779255e-05,0.00039595474400835255,6.326458626582695e-17,-1.7478586159006862e-17,1.0893530563584126e-14,-2.1955653555714265e-16,2.7916839871719704e-16,-3.1541258645529375e-08],"joint_position_rad":[-1.544535790276298,-1.5522011561582065,1.6073408628089292,-1.6255789434793406,-1.5707920581209363,0.026268321849256464],"joint_velocity_rad_s":[-0.00013128969475645696,-0.014780164289277899,-0.19819064166102263,0.20653310939386918,4.6524747429097005e-05,-9.213370751517428e-05],"linkage_position_rad":[0.0029492704809241017,0.00015611494686148928,0.0032096382157536236,-0.003443611510415,0.002949289773345617,0.0001563654529086145,0.003214875053389275,-0.003452132496615052],"tcp_position_m":[-0.14706304687113494,0.4955247175247195,0.31048701730779854],"tcp_quaternion_wxyz":[0.00012805328796220176,0.7071095227083615,0.7071040171094252,-0.00012443962994782367],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.3813592367174614e-17,-4.628975559586799e-17,-4.046315852086005e-08],"object_linear_velocity_m_s":[6.326458626582695e-17,-1.7478586159006862e-17,1.0893530563584126e-14],"object_angular_velocity_rad_s":[-2.1955651004499766e-16,2.791684156137021e-16,-3.154125864552942e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313350171310926,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544541822960165,-1.5656697427704485,1.557857330934413,-1.5893357605522904,-1.5707792800661975,0.026250056781731437,0.0],"actuator_force":[0.04045051016873913,-21.025107508772635,-19.690807084622975,-2.5317194758617916,0.0017365526264256914,8.083698900485103e-05,-0.292229289304317],"issued_joint_targets_rad":[-1.5445464456405504,-1.5548683583584255,1.5640455182016741,-1.5801878151284676,-1.5707806313178625,0.02624992329050489],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.2999999999997476,"joint_targets_rad":[-1.5445464456405504,-1.5548683583584255,1.5640455182016741,-1.5801878151284676,-1.5707806313178625,0.02624992329050489],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3199999999997454,"qpos":[-1.54453582821595,-1.5524602923326696,1.603228046882087,-1.6212673956560641,-1.5707909508022795,0.026266558550915316,0.0029463162377783778,0.00015611627257591007,0.0032067610464144095,-0.003440828531177579,0.002946334163723404,0.00015636842629526994,0.003212016015919756,-0.003449333329078008,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.0689562282848036e-17,-3.2138754307990327e-17,-4.058275340436685e-08],"qvel":[-0.0001318018709038332,-0.013795180712018953,-0.19895809808384635,0.20661098024992955,4.226941659116623e-05,-8.392301759853303e-05,-0.00024318220599061334,-3.1503905175452875e-05,-0.00014519282847451278,0.0003658048698213793,-0.00023827299637975188,-5.995540585444774e-06,-6.173021995857634e-05,0.00036754396936984125,4.044594066110394e-17,-1.2187241216984231e-17,1.0968470617746326e-14,5.728521696772443e-16,1.769009849903695e-15,-3.4133139841582535e-09],"joint_position_rad":[-1.54453582821595,-1.5524602923326696,1.603228046882087,-1.6212673956560641,-1.5707909508022795,0.026266558550915316],"joint_velocity_rad_s":[-0.0001318018709038332,-0.013795180712018953,-0.19895809808384635,0.20661098024992955,4.226941659116623e-05,-8.392301759853303e-05],"linkage_position_rad":[0.0029463162377783778,0.00015611627257591007,0.0032067610464144095,-0.003440828531177579,0.002946334163723404,0.00015636842629526994,0.003212016015919756,-0.003449333329078008],"tcp_position_m":[-0.1470632074872566,0.49552076621980545,0.3122064878236803],"tcp_quaternion_wxyz":[0.00010576250049223474,0.7071089162061599,0.7071046305950233,-0.00010405343845878316],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.0689562282848036e-17,-3.2138754307990327e-17,-4.058275340436685e-08],"object_linear_velocity_m_s":[4.044594066110394e-17,-1.2187241216984231e-17,1.0968470617746326e-14],"object_angular_velocity_rad_s":[5.728523134792236e-16,1.7690098033348818e-15,-3.413313984158259e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313376020093661,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445419643406837,-1.5657299633485748,1.553590509488661,-1.5850084797157244,-1.5707791338083024,0.026249920145115783,0.0],"actuator_force":[0.040448498893965734,-21.02126974700286,-19.691835553313012,-2.5316400548231286,0.00168155532946912,7.309886008677324e-05,-0.29222524406323724],"issued_joint_targets_rad":[-1.544546283313433,-1.554914289738048,1.5597616138651549,-1.5758586971081088,-1.5707804876321412,0.026250081645244807],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.3199999999997454,"joint_targets_rad":[-1.544546283313433,-1.554914289738048,1.5597616138651549,-1.5758586971081088,-1.5707804876321412,0.026250081645244807],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.339999999999743,"qpos":[-1.544535842769986,-1.5526990649524193,1.5990991068044877,-1.6169541738417297,-1.5707899334879303,0.026264978052517856,0.0029438937073496124,0.00015611609140982522,0.0032043573913018257,-0.0034385277793093135,0.0029439119466667346,0.00015637138250659667,0.0032096246916132006,-0.003447030885199575,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.1649129902162953e-19,-4.891609964549057e-17,-4.106348730902783e-08],"qvel":[-0.00013434136348278484,-0.012811494906160655,-0.19973589327445782,0.20669181510451912,3.793586929583606e-05,-7.514050640111816e-05,-0.00021887519504422894,-3.1559446508946727e-05,-0.00012092879539427523,0.00034292765290996506,-0.00021391322507432464,-5.798375139689387e-06,-3.6599249048786395e-05,0.0003448922959292481,5.831683561121067e-17,-4.405597470522234e-18,1.0903245015049596e-14,5.916937797457812e-16,1.2147353331268024e-15,-1.3720451170847783e-08],"joint_position_rad":[-1.544535842769986,-1.5526990649524193,1.5990991068044877,-1.6169541738417297,-1.5707899334879303,0.026264978052517856],"joint_velocity_rad_s":[-0.00013434136348278484,-0.012811494906160655,-0.19973589327445782,0.20669181510451912,3.793586929583606e-05,-7.514050640111816e-05],"linkage_position_rad":[0.0029438937073496124,0.00015611609140982522,0.0032043573913018257,-0.0034385277793093135,0.0029439119466667346,0.00015637138250659667,0.0032096246916132006,-0.003447030885199575],"tcp_position_m":[-0.1470633456308061,0.4955163915573543,0.3139239033990383],"tcp_quaternion_wxyz":[8.564761407958871e-05,0.7071083651488486,0.7071051868440243,-8.566963081923036e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.1649129902162953e-19,-4.891609964549057e-17,-4.106348730902783e-08],"object_linear_velocity_m_s":[5.831683561121067e-17,-4.405597470522234e-18,1.0903245015049596e-14],"object_angular_velocity_rad_s":[5.9169388085062e-16,1.2147352845268396e-15,-1.3720451170847807e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313397848851776,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445418099157855,-1.5657728122312744,1.5493045816889108,-1.5806795206258917,-1.5707789867456865,0.026250078585996834,0.0],"actuator_force":[0.04180225379377589,-21.02289659524604,-19.694692921370915,-2.5318549025329276,0.0016797841923335,6.431737960177486e-05,-0.29222634060022457],"issued_joint_targets_rad":[-1.5445461147116675,-1.5549425863164938,1.5554600818598796,-1.5715295876666506,-1.5707803444017956,0.026250246625991944],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.339999999999743,"joint_targets_rad":[-1.5445461147116675,-1.5549425863164938,1.5554600818598796,-1.5715295876666506,-1.5707803444017956,0.026250246625991944],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.359999999999741,"qpos":[-1.5445358522315367,-1.5529176745947626,1.5949539006182294,-1.6126394050783615,-1.5707889996975999,0.02626356483296971,0.002941910780444093,0.00015611633224981475,0.0032023879610728768,-0.003436646090440351,0.002941929281439197,0.00015637458729766228,0.003207666592709061,-0.003445146513952892,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.3998353071531862e-17,-4.3191482667785307e-17,-4.1384239576555914e-08],"qvel":[-0.00013702043674411644,-0.011840161530127423,-0.200520349190626,0.20676485941753864,3.398990316678229e-05,-6.716916859795254e-05,-0.00019891671093709776,-3.164124753011712e-05,-0.0001004372253150283,0.00032410926403715374,-0.0001939017630096538,-5.611210074909626e-06,-1.5136403573580411e-05,0.00032618529205542536,7.412267279214164e-17,-3.600052540449419e-17,1.0828304960887401e-14,-2.9441626562601438e-15,-2.337346173864281e-16,-5.515190844011158e-08],"joint_position_rad":[-1.5445358522315367,-1.5529176745947626,1.5949539006182294,-1.6126394050783615,-1.5707889996975999,0.02626356483296971],"joint_velocity_rad_s":[-0.00013702043674411644,-0.011840161530127423,-0.200520349190626,0.20676485941753864,3.398990316678229e-05,-6.716916859795254e-05],"linkage_position_rad":[0.002941910780444093,0.00015611633224981475,0.0032023879610728768,-0.003436646090440351,0.002941929281439197,0.00015637458729766228,0.003207666592709061,-0.003445146513952892],"tcp_position_m":[-0.14706345549363714,0.4955116570796476,0.3156394189170686],"tcp_quaternion_wxyz":[6.753606403163248e-05,0.7071078707090074,0.7071056850580674,-6.912896629857968e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.3998353071531862e-17,-4.3191482667785307e-17,-4.1384239576555914e-08],"object_linear_velocity_m_s":[7.412267279214164e-17,-3.600052540449419e-17,1.0828304960887401e-14],"object_angular_velocity_rad_s":[-2.9441626708418124e-15,-2.337343752466342e-16,-5.515190844011168e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313415743976472,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445416484823886,-1.5657982723631068,1.545001210002301,-1.5763505507077704,-1.5707788404167171,0.02625024364431181,0.0],"actuator_force":[0.04321567299348317,-21.025130924637324,-19.697241555606524,-2.5320587564583548,0.0016806501247401684,5.632253084719707e-05,-0.2922279107244307],"issued_joint_targets_rad":[-1.5445459564762614,-1.5549532444411662,1.5511409489865777,-1.5672005172785617,-1.5707802015723349,0.02625040160203224],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.359999999999741,"joint_targets_rad":[-1.5445459564762614,-1.5549532444411662,1.5511409489865777,-1.5672005172785617,-1.5707802015723349,0.02625040160203224],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3799999999997388,"qpos":[-1.544535857981837,-1.5531163658996543,1.5907922983929386,-1.6083232423397344,-1.5707881415827873,0.026262301977602206,0.002940288110144056,0.00015611642666821224,0.0032007770527931073,-0.0034351064823221027,0.00294030687038069,0.0001563776419651595,0.0032060669284580956,-0.0034436042528595925,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.8600725685719615e-17,-3.1100900169265534e-17,-4.1593358880867753e-08],"qvel":[-0.0001397234431524828,-0.010880632860076754,-0.20131098809471676,0.2068305630203047,3.042298685026942e-05,-6.00078372545792e-05,-0.00018257445871972162,-3.1733923375737914e-05,-8.350749317109149e-05,0.0003087795398768468,-0.00017750579581971674,-5.434589468877259e-06,2.7734507150317975e-06,0.0003109635091698896,4.084497045545906e-17,-2.0497838235834133e-17,1.0836631633572093e-14,5.785041581356867e-16,1.8845597052710803e-15,-5.968397851438918e-09],"joint_position_rad":[-1.544535857981837,-1.5531163658996543,1.5907922983929386,-1.6083232423397344,-1.5707881415827873,0.026262301977602206],"joint_velocity_rad_s":[-0.0001397234431524828,-0.010880632860076754,-0.20131098809471676,0.2068305630203047,3.042298685026942e-05,-6.00078372545792e-05],"linkage_position_rad":[0.002940288110144056,0.00015611642666821224,0.0032007770527931073,-0.0034351064823221027,0.00294030687038069,0.0001563776419651595,0.0032060669284580956,-0.0034436042528595925],"tcp_position_m":[-0.14706353984902765,0.49550661817082176,0.3173532076643788],"tcp_quaternion_wxyz":[5.123379235045994e-05,0.7071074275547305,0.7071061308804137,-5.425274800710756e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.8600725685719615e-17,-3.1100900169265534e-17,-4.1593358880867753e-08],"object_linear_velocity_m_s":[4.084497045545906e-17,-2.0497838235834133e-17,1.0836631633572093e-14],"object_angular_velocity_rad_s":[5.78504315277267e-16,1.8845596569251816e-15,-5.968397851438929e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313430360824784,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445414967221236,-1.565806335798507,1.5406804201752555,-1.572021602242597,-1.5707786947409241,0.026250398690157876,0.0],"actuator_force":[0.044611896687456465,-21.027686653674664,-19.699361197479448,-2.532236253461747,0.0016811222466230902,4.9140003293146606e-05,-0.2922293477535401],"issued_joint_targets_rad":[-1.5445458091785282,-1.554946259775848,1.5468041369325363,-1.5628714126943948,-1.570780059006564,0.026250545971581433],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.3799999999997388,"joint_targets_rad":[-1.5445458091785282,-1.554946259775848,1.5468041369325363,-1.5628714126943948,-1.570780059006564,0.026250545971581433],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3999999999997366,"qpos":[-1.544535860396274,-1.5532953629090671,1.5866141752858776,-1.6040058188889725,-1.570787351912069,0.026261174059459075,0.0029389604372690235,0.00015611633619206259,0.0031994599236967757,-0.003433846715227552,0.002938979454502795,0.00015638049648376823,0.0032047609930246405,-0.003442341812101947,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.2389218167672066e-17,-4.140544222987686e-17,-4.204280670614882e-08],"qvel":[-0.00014244497164204043,-0.009931767536059942,-0.2021075782849459,0.20688996911107072,2.7201100563905594e-05,-5.358164680697439e-05,-0.00016919587709301242,-3.1825105726509546e-05,-6.951650461153354e-05,0.00029626471335852516,-0.0001640734479123432,-5.255991006627626e-06,1.7747427499830442e-05,0.0002985583136238359,5.76562988765139e-17,-1.6596629043393864e-17,1.0808876057956461e-14,7.411832981817967e-16,5.685387182441646e-16,-2.3991086571268478e-08],"joint_position_rad":[-1.544535860396274,-1.5532953629090671,1.5866141752858776,-1.6040058188889725,-1.570787351912069,0.026261174059459075],"joint_velocity_rad_s":[-0.00014244497164204043,-0.009931767536059942,-0.2021075782849459,0.20688996911107072,2.7201100563905594e-05,-5.358164680697439e-05],"linkage_position_rad":[0.0029389604372690235,0.00015611633619206259,0.0031994599236967757,-0.003433846715227552,0.002938979454502795,0.00015638049648376823,0.0032047609930246405,-0.003442341812101947],"tcp_position_m":[-0.14706360166249197,0.49550132442194034,0.31906542788395],"tcp_quaternion_wxyz":[3.656342118321933e-05,0.707107030492391,0.7071065297537309,-4.0877676218497696e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.2389218167672066e-17,-4.140544222987686e-17,-4.204280670614882e-08],"object_linear_velocity_m_s":[5.76562988765139e-17,-1.6596629043393864e-17,1.0808876057956461e-14],"object_angular_velocity_rad_s":[7.411833479744454e-16,5.685386553268496e-16,-2.399108657126852e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931344228780247,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445413552664542,-1.565796994157772,1.5363421329324127,-1.5676926036680208,-1.570778549557022,0.02625054312250841,0.0],"actuator_force":[0.045988248296453094,-21.030555482986074,-19.701053392951053,-2.53238930063128,0.0016810674670750814,4.269620536412333e-05,-0.2922306479635641],"issued_joint_targets_rad":[-1.544545672624179,-1.5549216268276782,1.5424495590697007,-1.558542193493376,-1.5707799165749383,0.026250679898931196],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.3999999999997366,"joint_targets_rad":[-1.544545672624179,-1.5549216268276782,1.5424495590697007,-1.558542193493376,-1.5707799165749383,0.026250679898931196],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4199999999997344,"qpos":[-1.544535859831119,-1.5534548673207296,1.5824194104278226,-1.5996872474521349,-1.5707866241278556,0.026260167142432175,0.002937874300414622,0.00015611609190110696,0.003198383374444378,-0.003432816063500801,0.0029378935721290477,0.0001563831826572475,0.003203695596014394,-0.0034413084616462058,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-9.074623833751294e-18,-3.170344124658043e-17,-4.2233131677299016e-08],"qvel":[-0.00014518669198837632,-0.008992492028916884,-0.20290993280789738,0.20694406251036263,2.42918167640746e-05,-4.7819377141642796e-05,-0.0001582451533475171,-3.1914867168737086e-05,-5.793398002002452e-05,0.00028605606522306325,-0.00015306880601405844,-5.0751019860658e-06,3.0315989725312523e-05,0.0002884592943833768,7.013599941804274e-17,-4.2900888921196626e-17,1.0775569367217705e-14,-2.3536723793387403e-15,-1.0247643741090943e-15,-9.643663998230212e-08],"joint_position_rad":[-1.544535859831119,-1.5534548673207296,1.5824194104278226,-1.5996872474521349,-1.5707866241278556,0.026260167142432175],"joint_velocity_rad_s":[-0.00014518669198837632,-0.008992492028916884,-0.20290993280789738,0.20694406251036263,2.42918167640746e-05,-4.7819377141642796e-05],"linkage_position_rad":[0.002937874300414622,0.00015611609190110696,0.003198383374444378,-0.003432816063500801,0.0029378935721290477,0.0001563831826572475,0.003203695596014394,-0.0034413084616462058],"tcp_position_m":[-0.14706364360376,0.4954958203641524,0.32077622235338926],"tcp_quaternion_wxyz":[2.3364800994282632e-05,0.7071066748225544,0.7071068865757059,-2.88563301791806e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-9.074623833751294e-18,-3.170344124658043e-17,-4.2233131677299016e-08],"object_linear_velocity_m_s":[7.013599941804274e-17,-4.2900888921196626e-17,1.0775569367217705e-14],"object_angular_velocity_rad_s":[-2.353672459782007e-15,-1.0247641770534343e-15,-9.643663998230229e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313452011631679,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544541223976358,-1.5657702382924412,1.5319862607882253,-1.5633634760873045,-1.5707784047136122,0.026250677106339607,0.0],"actuator_force":[0.04734638631771304,-21.03374513185645,-19.702326156035724,-2.5325205686210666,0.0016805254452947338,3.69196678811079e-05,-0.2922318238303756],"issued_joint_targets_rad":[-1.544545546568088,-1.5548793388216893,1.5380771262928563,-1.5542127780086579,-1.5707797741585992,0.026250803601575362],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.4199999999997344,"joint_targets_rad":[-1.544545546568088,-1.5548793388216893,1.5380771262928563,-1.5542127780086579,-1.5707797741585992,0.026250803601575362],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.439999999999732,"qpos":[-1.5445358566727372,-1.553595060341544,1.5782078862882325,-1.5953676219625381,-1.5707859522905738,0.026259268646854832,0.0029369859068236253,0.0001561157192531557,0.0031975038067847497,-0.0034319729683828953,0.002937005430837678,0.0001563857282659964,0.00320282714684059,-0.0034404626466519326,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.426028813442083e-17,-2.5037915894312653e-17,-4.2598790158277406e-08],"qvel":[-0.0001479500765543422,-0.00806183008356469,-0.20371789436640847,0.20699373903703436,2.1665675680763605e-05,-4.265638987567507e-05,-0.00014928320871612294,-3.200347103223998e-05,-4.832303572117271e-05,0.00027773704510799244,-0.00014405278433701226,-4.8921683106769716e-06,4.091605911430832e-05,0.0002802499853559629,3.2737811982950595e-17,-1.73050711871719e-17,1.0851897200160686e-14,3.5576623528098964e-16,1.0754360382191184e-15,-1.0436125442428612e-08],"joint_position_rad":[-1.5445358566727372,-1.553595060341544,1.5782078862882325,-1.5953676219625381,-1.5707859522905738,0.026259268646854832],"joint_velocity_rad_s":[-0.0001479500765543422,-0.00806183008356469,-0.20371789436640847,0.20699373903703436,2.1665675680763605e-05,-4.265638987567507e-05],"linkage_position_rad":[0.0029369859068236253,0.0001561157192531557,0.0031975038067847497,-0.0034319729683828953,0.002937005430837678,0.0001563857282659964,0.00320282714684059,-0.0034404626466519326],"tcp_position_m":[-0.14706366805109372,0.4954901460247869,0.32248571978328877],"tcp_quaternion_wxyz":[1.1493455845756231e-05,0.7071063563149522,0.7071072057339551,-1.8055732045289017e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.426028813442083e-17,-2.5037915894312653e-17,-4.2598790158277406e-08],"object_linear_velocity_m_s":[3.2737811982950595e-17,-1.73050711871719e-17,1.0851897200160686e-14],"object_angular_velocity_rad_s":[3.557663274281349e-16,1.0754360076110498e-15,-1.043612544242863e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313459931302133,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544541102656266,-1.5657260581340122,1.527612713875923,-1.5590341392073437,-1.5707782600720424,0.02625080085976245,0.0],"actuator_force":[0.04868806356398636,-21.037263551510478,-19.703187078055635,-2.5326325261062266,0.0016795416976265187,3.174544137607427e-05,-0.29223288691779953],"issued_joint_targets_rad":[-1.5445454307680897,-1.5548193876710354,1.533686747241259,-1.5498830835820712,-1.5707796316484222,0.026250917296387042],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.439999999999732,"joint_targets_rad":[-1.5445454307680897,-1.5548193876710354,1.533686747241259,-1.5498830835820712,-1.5707796316484222,0.026250917296387042],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.45999999999973,"qpos":[-1.5445358513296485,-1.5537161045628842,1.573979488116271,-1.5910470192784594,-1.5707853310206363,0.026258467219675646,0.002936259386352499,0.00015611523936254258,0.003196785508043601,-0.0034312833905845853,0.0029362791607789964,0.0001563881564825508,0.003202119939455193,-0.003439770330569928,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.1049628945444347e-17,-2.162707842457736e-17,-4.299239957521155e-08],"qvel":[-0.00015073610838643966,-0.007138895228120474,-0.20453133230924542,0.20703981242010927,1.9295998859869295e-05,-3.80342453484479e-05,-0.00014195028180522418,-3.2091122289298325e-05,-4.032546809889373e-05,0.0002709661842722947,-0.00013666561656348002,-4.7073743059347156e-06,4.9905919403145336e-05,0.0002735889655126331,2.905807364454964e-17,-1.544284431527851e-17,1.0821366066983494e-14,5.105982213168675e-16,2.9577623314836703e-16,-4.194994958279603e-08],"joint_position_rad":[-1.5445358513296485,-1.5537161045628842,1.573979488116271,-1.5910470192784594,-1.5707853310206363,0.026258467219675646],"joint_velocity_rad_s":[-0.00015073610838643966,-0.007138895228120474,-0.20453133230924542,0.20703981242010927,1.9295998859869295e-05,-3.80342453484479e-05],"linkage_position_rad":[0.002936259386352499,0.00015611523936254258,0.003196785508043601,-0.0034312833905845853,0.0029362791607789964,0.0001563881564825508,0.003202119939455193,-0.003439770330569928],"tcp_position_m":[-0.14706367712299673,0.4954843374180937,0.3241940361879854],"tcp_quaternion_wxyz":[8.190572047786183e-07,0.7071060711639052,0.7071074911586304,-8.355939295388162e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.1049628945444347e-17,-2.162707842457736e-17,-4.299239957521155e-08],"object_linear_velocity_m_s":[2.905807364454964e-17,-1.544284431527851e-17,1.0821366066983494e-14],"object_angular_velocity_rad_s":[5.105982485636361e-16,2.9577618831761813e-16,-4.1949949582796105e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931346637365274,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445409911083516,-1.5656644426318207,1.5232214001597242,-1.5547045116079963,-1.5707781155052616,0.026250914600206367,0.0],"actuator_force":[0.05001488594825787,-21.041118046624888,-19.70364298939512,-2.5327274067793724,0.0016781578012796672,2.711480020423096e-05,-0.2922338478647312],"issued_joint_targets_rad":[-1.5445453249915948,-1.5547417639657053,1.5292783282878954,-1.5455530265694577,-1.5707794889439615,0.02625102119284689],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.45999999999973,"joint_targets_rad":[-1.5445453249915948,-1.5547417639657053,1.5292783282878954,-1.5455530265694577,-1.5707794889439615,0.02625102119284689],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4799999999997278,"qpos":[-1.5445358442235007,-1.5538181456632743,1.5697341034343422,-1.5867255007412224,-1.5707847554454717,0.026257752616204222,0.002935665359935978,0.00015611466970698445,0.0031961992276729845,-0.003430719451895289,0.002935685383154412,0.0001563904866755302,0.0032015447293524276,-0.003439203637416988,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-6.954177302945933e-18,-1.4846145424149623e-17,-4.315146105686813e-08],"qvel":[-0.0001535453609681374,-0.006222882031286237,-0.2053501400736544,0.20708302219194014,1.7158632037740874e-05,-3.390013957437036e-05,-0.00013595162573205876,-3.217799571581345e-05,-3.364778034744958e-05,0.0002654637476966374,-0.00013061255028705936,-4.520872218274725e-06,5.75791555344913e-05,0.0002681965361567362,1.7129919287151124e-17,-9.027130952469114e-18,1.0799161606490987e-14,3.467277275760577e-16,6.225385141884911e-16,-4.539715778463263e-09],"joint_position_rad":[-1.5445358442235007,-1.5538181456632743,1.5697341034343422,-1.5867255007412224,-1.5707847554454717,0.026257752616204222],"joint_velocity_rad_s":[-0.0001535453609681374,-0.006222882031286237,-0.2053501400736544,0.20708302219194014,1.7158632037740874e-05,-3.390013957437036e-05],"linkage_position_rad":[0.002935665359935978,0.00015611466970698445,0.0031961992276729845,-0.003430719451895289,0.002935685383154412,0.0001563904866755302,0.0032015447293524276,-0.003439203637416988],"tcp_position_m":[-0.1470636727077884,0.4954784269835474,0.32590127612952347],"tcp_quaternion_wxyz":[-8.775960906701769e-06,0.7071058159466665,0.7071077463705637,3.5123233142549524e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-6.954177302945933e-18,-1.4846145424149623e-17,-4.315146105686813e-08],"object_linear_velocity_m_s":[1.7129919287151124e-17,-9.027130952469114e-18,1.0799161606490987e-14],"object_angular_velocity_rad_s":[3.4672778143774453e-16,6.225384842017339e-16,-4.539715778463272e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931347160638827,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445408891396744,-1.5655853797118824,1.5188122254156573,-1.5503745107607587,-1.5707779708965874,0.026251018537653506,0.0],"actuator_force":[0.05132831203945898,-21.0453152847017,-19.703700007907628,-2.532807228962156,0.0016764112383498286,2.2974682080345588e-05,-0.29223471627442393],"issued_joint_targets_rad":[-1.5445452290146742,-1.5546464569557943,1.5248517735035152,-1.541222522325906,-1.5707793459524777,0.026251115493800343],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.4799999999997278,"joint_targets_rad":[-1.5445452290146742,-1.5546464569557943,1.5248517735035152,-1.541222522325906,-1.5707793459524777,0.026251115493800343],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4999999999997256,"qpos":[-1.5445358357814007,-1.5539013139427686,1.5654716215789521,-1.582403113581353,-1.570784221151545,0.026257115593229574,0.0029351797664492565,0.0001561140247351022,0.0031957210094652752,-0.0034302583214251697,0.002935200037082336,0.0001563927350308751,0.0032010775658587644,-0.0034387397381138696,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.489889405801375e-17,-1.0524237319592425e-17,-4.359296832178421e-08],"qvel":[-0.00015637806767474362,-0.005313058056217546,-0.2061742329390907,0.2071240409431126,1.5231707260468314e-05,-3.0206360561472767e-05,-0.00013104576743153763,-3.226423718314739e-05,-2.8049506163719095e-05,0.0002610005708751513,-0.00012565210677529788,-4.332784275149551e-06,6.41763262583103e-05,0.0002638435641054651,1.4874317301483142e-17,1.8029482029436854e-17,1.0806100500394898e-14,5.880122110773574e-16,6.809354211420187e-16,-1.824823293638552e-08],"joint_position_rad":[-1.5445358357814007,-1.5539013139427686,1.5654716215789521,-1.582403113581353,-1.570784221151545,0.026257115593229574],"joint_velocity_rad_s":[-0.00015637806767474362,-0.005313058056217546,-0.2061742329390907,0.2071240409431126,1.5231707260468314e-05,-3.0206360561472767e-05],"linkage_position_rad":[0.0029351797664492565,0.0001561140247351022,0.0031957210094652752,-0.0034302583214251697,0.002935200037082336,0.0001563927350308751,0.0032010775658587644,-0.0034387397381138696],"tcp_position_m":[-0.14706365649000108,0.4954724439775535,0.32760753384006047],"tcp_quaternion_wxyz":[-1.739765169059669e-05,0.7071055875856215,0.7071079745243111,8.163361255679105e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.489889405801375e-17,-1.0524237319592425e-17,-4.359296832178421e-08],"object_linear_velocity_m_s":[1.4874317301483142e-17,1.8029482029436854e-17,1.0806100500394898e-14],"object_angular_velocity_rad_s":[5.880122708294462e-16,6.80935370419379e-16,-1.8248232936385556e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313475848763497,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445407965617428,-1.5654888562331244,1.5143850931880978,-1.5460440530260342,-1.570777826138575,0.02625111287540136,0.0],"actuator_force":[0.05262966638565558,-21.04986135822446,-19.7033636060728,-2.532873816651886,0.0016743357590485175,1.9277142039086925e-05,-0.29223550080554545],"issued_joint_targets_rad":[-1.544545142620693,-1.5545334545311897,1.520406984609251,-1.536891485182804,-1.5707792025880625,0.026251200396662417],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.4999999999997256,"joint_targets_rad":[-1.544545142620693,-1.5545334545311897,1.520406984609251,-1.536891485182804,-1.5707792025880625,0.026251200396662417],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5199999999997234,"qpos":[-1.5445358264295252,-1.5539657257043784,1.5611919332832283,-1.578079892186382,-1.5707837241409062,0.02625654781249705,0.0029347829014476916,0.00015611331639852456,0.003195331234610596,-0.0034298813031598623,0.0029348034183399154,0.00015639491509844976,0.0032006988352455837,-0.0034383599381163955,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.5219528261597964e-17,-4.662345909041175e-18,-4.388780473244547e-08],"qvel":[-0.00015923418159910155,-0.004408756579528451,-0.2070035460552154,0.20716348091425263,1.3495427143871912e-05,-2.6909794687124733e-05,-0.00012703488569980342,-3.2349968550304566e-05,-2.333363215851019e-05,0.0002573889236980065,-0.00012158645897731522,-4.143207405674536e-06,6.989454188799858e-05,0.000260342348083748,5.509477446927423e-18,1.4160681858457068e-17,1.0785283818683174e-14,1.2813959658916552e-16,2.0591782029268867e-16,-7.335217038924445e-08],"joint_position_rad":[-1.5445358264295252,-1.5539657257043784,1.5611919332832283,-1.578079892186382,-1.5707837241409062,0.02625654781249705],"joint_velocity_rad_s":[-0.00015923418159910155,-0.004408756579528451,-0.2070035460552154,0.20716348091425263,1.3495427143871912e-05,-2.6909794687124733e-05],"linkage_position_rad":[0.0029347829014476916,0.00015611331639852456,0.003195331234610596,-0.0034298813031598623,0.0029348034183399154,0.00015639491509844976,0.0032006988352455837,-0.0034383599381163955],"tcp_position_m":[-0.14706362997389028,0.4954664148236478,0.3293128942343248],"tcp_quaternion_wxyz":[-2.5141682992099812e-05,0.7071053833140825,0.7071081784465919,1.5168459562555978e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.5219528261597964e-17,-4.662345909041175e-18,-4.388780473244547e-08],"object_linear_velocity_m_s":[5.509477446927423e-18,1.4160681858457068e-17,1.0785283818683174e-14],"object_angular_velocity_rad_s":[1.2813961534771393e-16,2.0591781127792792e-16,-7.33521703892446e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313479280339865,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445407131895756,-1.565374857942639,1.50993990473574,-1.541713053641028,-1.5707776811319953,0.026251197811272463,0.0],"actuator_force":[0.053920152538921684,-21.0547618447099,-19.702638672890316,-2.53292881874836,0.0016719617409535203,1.597885641757557e-05,-0.2922362092659948],"issued_joint_targets_rad":[-1.5445450655990374,-1.5544027431991907,1.5159438609274274,-1.5325598284247681,-1.5707790587708583,0.026251276094540043],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.5199999999997234,"joint_targets_rad":[-1.5445450655990374,-1.5544027431991907,1.5159438609274274,-1.5325598284247681,-1.5707790587708583,0.026251276094540043],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.539999999999721,"qpos":[-1.5445358165878411,-1.5540114844973445,1.5568949302966018,-1.5737558592436043,-1.5707832607918404,0.026256041753545442,0.002934458629530037,0.00015611255458970204,0.0031950138375905204,-0.003429573088322445,0.002934479391728355,0.00015639703824370807,0.0032003924766741106,-0.0034380489298288263,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,1.1826387295814975e-17,-8.101843973441193e-19,-4.416593390830564e-08],"qvel":[-0.0001621134269836523,-0.0035093700171281534,-0.207838032676821,0.20720189994954474,1.193186939883376e-05,-2.3971480768718823e-05,-0.00012375692650485408,-3.243529202715302e-05,-1.9338748771260297e-05,0.0002544750264611124,-0.0001182535468360113,-3.952217655261325e-06,7.489531293466621e-05,0.0002575391351874779,3.0022937826914056e-18,1.4091685054662508e-17,1.0753364906725195e-14,-6.153634920834479e-16,3.75336171532411e-16,-7.937983444851084e-09],"joint_position_rad":[-1.5445358165878411,-1.5540114844973445,1.5568949302966018,-1.5737558592436043,-1.5707832607918404,0.026256041753545442],"joint_velocity_rad_s":[-0.0001621134269836523,-0.0035093700171281534,-0.207838032676821,0.20720189994954474,1.193186939883376e-05,-2.3971480768718823e-05],"linkage_position_rad":[0.002934458629530037,0.00015611255458970204,0.0031950138375905204,-0.003429573088322445,0.002934479391728355,0.00015639703824370807,0.0032003924766741106,-0.0034380489298288263],"tcp_position_m":[-0.14706359450436415,0.49546036342567434,0.33101743382289284],"tcp_quaternion_wxyz":[-3.2094354339193486e-05,0.7071052006453661,0.7071083606706269,2.1445910655443668e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,1.1826387295814975e-17,-8.101843973441193e-19,-4.416593390830564e-08],"object_linear_velocity_m_s":[3.0022937826914056e-18,1.4091685054662508e-17,1.0753364906725195e-14],"object_angular_velocity_rad_s":[-6.153634589164392e-16,3.7533622607637225e-16,-7.9379834448511e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313482048160439,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544540638840807,-1.5652433694312327,1.5054765589765116,-1.5373814267064434,-1.570777535784925,0.02625127353874109,0.0],"actuator_force":[0.055200864861944865,-21.060021860924735,-19.701529569452305,-2.532973726373939,0.0016693165177912306,1.304067469476422e-05,-0.29223684869621525],"issued_joint_targets_rad":[-1.5445449977439234,-1.5542543080599547,1.5114622993308209,-1.5282274642668505,-1.5707789144263626,0.026251342777286326],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.539999999999721,"joint_targets_rad":[-1.5445449977439234,-1.5542543080599547,1.5114622993308209,-1.5282274642668505,-1.5707789144263626,0.026251342777286326],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.559999999999719,"qpos":[-1.544535806665786,-1.5540386822356642,1.552580505037752,-1.5694310267699427,-1.5707828278232363,0.026255590635000492,0.0029341937389774715,0.00015611174750218446,0.0031947556637050194,-0.0034293211428066944,0.0029342147457138198,0.00015639911401993216,0.003200145339764357,-0.003437794180086175,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,8.377679833627528e-18,2.666163380681333e-17,-4.456525761262617e-08],"qvel":[-0.0001650153432601446,-0.0026143439866349685,-0.20867766258352224,0.20723980687203988,1.0524809801698676e-05,-2.135620719134266e-05,-0.00012107914187434692,-3.252029369605543e-05,-1.5932618299682974e-05,0.000252132916989445,-0.00011552061618972115,-3.7598737319767174e-06,7.931098221337137e-05,0.0002553079866927396,-4.073819830536467e-17,9.424015586692476e-18,1.0746426012821285e-14,-3.3155715462746535e-16,1.907876584337473e-15,-3.190820263109363e-08],"joint_position_rad":[-1.544535806665786,-1.5540386822356642,1.552580505037752,-1.5694310267699427,-1.5707828278232363,0.026255590635000492],"joint_velocity_rad_s":[-0.0001650153432601446,-0.0026143439866349685,-0.20867766258352224,0.20723980687203988,1.0524809801698676e-05,-2.135620719134266e-05],"linkage_position_rad":[0.0029341937389774715,0.00015611174750218446,0.0031947556637050194,-0.0034293211428066944,0.0029342147457138198,0.00015639911401993216,0.003200145339764357,-0.003437794180086175],"tcp_position_m":[-0.14706355128561877,0.49545431144792773,0.33272122153596784],"tcp_quaternion_wxyz":[-3.833351441857428e-05,0.7071050373448516,0.7071085234668278,2.7067315044828475e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,8.377679833627528e-18,2.666163380681333e-17,-4.456525761262617e-08],"object_linear_velocity_m_s":[-4.073819830536467e-17,9.424015586692476e-18,1.0746426012821285e-14],"object_angular_velocity_rad_s":[-3.3155698627889135e-16,1.907876614423963e-15,-3.19082026310937e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313484272629062,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445405733348383,-1.5650943740889411,1.5009949524316097,-1.5330490851724927,-1.5707773900119308,0.026251340247991473,0.0],"actuator_force":[0.05647279919958237,-21.065646111899696,-19.700040178875042,-2.5330098884790004,0.001666424672521316,1.0427214624186831e-05,-0.2922374254442442],"issued_joint_targets_rad":[-1.544544938853278,-1.5540881327796905,1.5069621941897091,-1.5238943038314794,-1.5707787694848048,0.02625140063248443],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.559999999999719,"joint_targets_rad":[-1.544544938853278,-1.5540881327796905,1.5069621941897091,-1.5238943038314794,-1.5707787694848048,0.02625140063248443],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5799999999997167,"qpos":[-1.5445357970545048,-1.554047400216054,1.5482485507612522,-1.5651053970389581,-1.5707824222621716,0.026255188343505095,0.002933977413137828,0.0001561109028821401,0.0031945459400519152,-0.0034291152090695012,0.0029339986636345806,0.000156401150503156,0.0031999466523685775,-0.003437585432349289,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,4.59136099903449e-18,2.742019578727454e-17,-4.468624383639939e-08],"qvel":[-0.00016793958232873125,-0.001723169014730366,-0.20952242158057952,0.20727766732967698,9.259638350046014e-06,-1.9032148491998642e-05,-0.00011889266024790386,-3.2605071844599914e-05,-1.3006608031404736e-05,0.0002502591191448273,-0.00011327878261684056,-3.566111601093763e-06,8.325080248991734e-05,0.00025354560266163326,-2.789705418623873e-17,6.509523193641875e-18,1.0833856076010517e-14,-3.1269458881678257e-16,-8.200845855961583e-16,-3.453023719632315e-09],"joint_position_rad":[-1.5445357970545048,-1.554047400216054,1.5482485507612522,-1.5651053970389581,-1.5707824222621716,0.026255188343505095],"joint_velocity_rad_s":[-0.00016793958232873125,-0.001723169014730366,-0.20952242158057952,0.20727766732967698,9.259638350046014e-06,-1.9032148491998642e-05],"linkage_position_rad":[0.002933977413137828,0.0001561109028821401,0.0031945459400519152,-0.0034291152090695012,0.0029339986636345806,0.000156401150503156,0.0031999466523685775,-0.003437585432349289],"tcp_position_m":[-0.14706350139659183,0.4954482784402468,0.3344243192342408],"tcp_quaternion_wxyz":[-4.392921732361764e-05,0.7071048914032635,0.7071086688717504,3.209709052994776e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,4.59136099903449e-18,2.742019578727454e-17,-4.468624383639939e-08],"object_linear_velocity_m_s":[-2.789705418623873e-17,6.509523193641875e-18,1.0833856076010517e-14],"object_angular_velocity_rad_s":[-3.126946622991466e-16,-8.200845576181553e-16,-3.453023719632322e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486052422103,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445405164921326,-1.5649278540591371,1.4964949791682498,-1.5287159408223643,-1.5707772437333387,0.026251398126904628,0.0],"actuator_force":[0.05773695767584286,-21.071640080274392,-19.698174553773242,-2.5330386246707803,0.001663300581412841,8.106548968100924e-06,-0.2922379466242967],"issued_joint_targets_rad":[-1.5445448887238884,-1.5539041998241125,1.5024434381741447,-1.5195602577171956,-1.5707786238808221,0.026251449850170458],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.5799999999997167,"joint_targets_rad":[-1.5445448887238884,-1.5539041998241125,1.5024434381741447,-1.5195602577171956,-1.5707786238808221,0.026251449850170458],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5999999999997145,"qpos":[-1.5445357873840433,-1.5540377121602438,1.543899045691442,-1.5607789633130071,-1.5707820413891478,0.02625482936948106,0.0029338008247719706,0.00015611019386377719,0.003194375389764773,-0.0034289475547899994,0.002933822287023981,0.0001564031591505796,0.0031997865719776146,-0.0034374150000203744,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-2.7707310234206987e-18,3.338904455724578e-17,-4.5172570492350294e-08],"qvel":[-0.00017093146645095895,-0.0008348676217690398,-0.2103724664209428,0.20731607642323666,8.13641370818701e-06,-1.6970607834072326e-05,-0.00011708474838938626,-3.269417770167463e-05,-1.0419685667566417e-05,0.00024871588256204547,-0.00011141415842157982,-3.3519767537782713e-06,8.694552814604468e-05,0.00025214115962237526,-3.963791114857615e-17,-2.6597179021970822e-18,1.0793610491367849e-14,-1.9423370703804872e-16,-7.713985022545908e-16,-1.3880071847151334e-08],"joint_position_rad":[-1.5445357873840433,-1.5540377121602438,1.543899045691442,-1.5607789633130071,-1.5707820413891478,0.02625482936948106],"joint_velocity_rad_s":[-0.00017093146645095895,-0.0008348676217690398,-0.2103724664209428,0.20731607642323666,8.13641370818701e-06,-1.6970607834072326e-05],"linkage_position_rad":[0.0029338008247719706,0.00015611019386377719,0.003194375389764773,-0.0034289475547899994,0.002933822287023981,0.0001564031591505796,0.0031997865719776146,-0.0034374150000203744],"tcp_position_m":[-0.14706344561037002,0.49544226030891725,0.3361267418981214],"tcp_quaternion_wxyz":[-4.891459398611949e-05,0.7071047607542308,0.7071087989758579,3.6564796636851996e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-2.7707310234206987e-18,3.338904455724578e-17,-4.5172570492350294e-08],"object_linear_velocity_m_s":[-3.963791114857615e-17,-2.6597179021970822e-18,1.0793610491367849e-14],"object_angular_velocity_rad_s":[-1.9423377765703944e-16,-7.713984847834335e-16,-1.3880071847151362e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487484896331,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445404681488064,-1.5647437902681607,1.4919765316513292,-1.5243819046030052,-1.5707770968747568,0.02625144736567484,0.0],"actuator_force":[0.05901105705424925,-21.07820916712626,-19.69604151184876,-2.53307828732261,0.0016586158246809646,6.058880295256586e-06,-0.29223866105574275],"issued_joint_targets_rad":[-1.5445448464933105,-1.5537025361893326,1.4979060717360355,-1.5152253392476234,-1.5707784775943756,0.02625149127982534],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.5999999999997145,"joint_targets_rad":[-1.5445448464933105,-1.5537025361893326,1.4979060717360355,-1.5152253392476234,-1.5707784775943756,0.02625149127982534],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6199999999997123,"qpos":[-1.5445357788563405,-1.5540096816599132,1.5395318877184754,-1.5564517191072489,-1.570781682786122,0.026254508810571512,0.0029336567950703583,0.0001561094723436666,0.0031942373095469045,-0.0034288108175958877,0.0029336784705498546,0.00015640516170540816,0.0031996589770003307,-0.0034372754942666515,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.2904305152849571e-17,1.598087670388485e-17,-4.5497054320395755e-08],"qvel":[-0.0001739497364261603,5.028321526709858e-05,-0.21122732760995122,0.2073547685689814,7.1276532674178095e-06,-1.5142424798171172e-05,-0.00011560642316069118,-3.278591642014861e-05,-8.147301046712705e-06,0.00024750504053354556,-0.00010987879433389312,-3.139829247740506e-06,9.032817228714616e-05,0.0002510683593104061,-1.0558005087591908e-17,-2.2307274909069997e-17,1.0796386048929417e-14,-1.8780787996738693e-15,-1.945306034159118e-15,-5.579353347234451e-08],"joint_position_rad":[-1.5445357788563405,-1.5540096816599132,1.5395318877184754,-1.5564517191072489,-1.570781682786122,0.026254508810571512],"joint_velocity_rad_s":[-0.0001739497364261603,5.028321526709858e-05,-0.21122732760995122,0.2073547685689814,7.1276532674178095e-06,-1.5142424798171172e-05],"linkage_position_rad":[0.0029336567950703583,0.0001561094723436666,0.0031942373095469045,-0.0034288108175958877,0.0029336784705498546,0.00015640516170540816,0.0031996589770003307,-0.0034372754942666515],"tcp_position_m":[-0.14706338440628597,0.4954362745937917,0.33782853860748707],"tcp_quaternion_wxyz":[-5.334822713851869e-05,0.7071046440975317,0.7071089150954366,4.052435011217195e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.2904305152849571e-17,1.598087670388485e-17,-4.5497054320395755e-08],"object_linear_velocity_m_s":[-1.0558005087591908e-17,-2.2307274909069997e-17,1.0796386048929417e-14],"object_angular_velocity_rad_s":[-1.878078978468513e-15,-1.9453058647049613e-15,-5.5793533472344624e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313488619862587,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445404274465035,-1.5645422085778218,1.4874396501062674,-1.5200469903667424,-1.570776949408053,0.0262514888140219,0.0],"actuator_force":[0.060282714244294766,-21.085167121924314,-19.69354418043531,-2.5331124866448818,0.0016539237077495272,4.244205010550672e-06,-0.29223933719353773],"issued_joint_targets_rad":[-1.5445448126650791,-1.5534831200317616,1.493349983803446,-1.5108894595781348,-1.5707783305656748,0.026251524408828237],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.6199999999997123,"joint_targets_rad":[-1.5445448126650791,-1.5534831200317616,1.493349983803446,-1.5108894595781348,-1.5707783305656748,0.026251524408828237],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.63999999999971,"qpos":[-1.544535771823723,-1.5539633671271453,1.5351469756321503,-1.5521236516829104,-1.570781344251195,0.026254222191276717,0.0029335393779520366,0.0001561087273517802,0.0031941258089731354,-0.003428699269299532,0.002933561266371995,0.00015640714156210599,0.003199557967714415,-0.003437161171212784,-0.14707126968342268,0.495568911061207,0.29989224457978336,1.0,-1.5262541780365345e-17,6.4267821350581345e-18,-4.570860647216773e-08],"qvel":[-0.00017698812114849008,0.0009326707063995524,-0.2120870615180343,0.20739412574083024,6.224212829786933e-06,-1.3527597185652508e-05,-0.00011439845073671076,-3.287762243650351e-05,-6.133400629521902e-06,0.00024655326784242656,-0.00010861359624342217,-2.9264400472903863e-06,9.345686262888947e-05,0.00025025556471227966,-8.683292810622738e-18,-1.606689149739886e-17,1.0765854915752227e-14,4.169262999849944e-16,-3.278999277486484e-16,-6.037832864154204e-09],"joint_position_rad":[-1.544535771823723,-1.5539633671271453,1.5351469756321503,-1.5521236516829104,-1.570781344251195,0.026254222191276717],"joint_velocity_rad_s":[-0.00017698812114849008,0.0009326707063995524,-0.2120870615180343,0.20739412574083024,6.224212829786933e-06,-1.3527597185652508e-05],"linkage_position_rad":[0.0029335393779520366,0.0001561087273517802,0.0031941258089731354,-0.003428699269299532,0.002933561266371995,0.00015640714156210599,0.003199557967714415,-0.003437161171212784],"tcp_position_m":[-0.14706331857928934,0.4954303368051415,0.3395297543861831],"tcp_quaternion_wxyz":[-5.728415159929044e-05,0.7071045399811111,0.707109018693993,4.40255017723727e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[1.0,-1.5262541780365345e-17,6.4267821350581345e-18,-4.570860647216773e-08],"object_linear_velocity_m_s":[-8.683292810622738e-18,-1.606689149739886e-17,1.0765854915752227e-14],"object_angular_velocity_rad_s":[4.1692626993168833e-16,-3.278999660471934e-16,-6.037832864154216e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313489510454766,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445403949027225,-1.5643230860369117,1.4828842232629789,-1.5157111097730447,-1.5707768012661112,0.02625152195955261,0.0],"actuator_force":[0.06154909046017565,-21.092506102092557,-19.690680131129284,-2.5331416191502285,0.001649071259066659,2.6438565132735903e-06,-0.2922399719813009],"issued_joint_targets_rad":[-1.5445447870634237,-1.5532459289017146,1.4887750590431275,-1.5065525262139956,-1.5707781827351994,0.026251549403121084],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.63999999999971,"joint_targets_rad":[-1.5445447870634237,-1.5532459289017146,1.4887750590431275,-1.5065525262139956,-1.5707781827351994,0.026251549403121084],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.659999999999708,"qpos":[-1.5445357665809054,-1.55389881920161,1.5307442069662873,-1.5477947406848602,-1.5707810237820348,0.02625396547778155,0.0029334437043818957,0.00015610796241100986,0.0031940360449289784,-0.0034286082954392335,0.0029334658053051152,0.00015640910278000292,0.0031994787039259652,-0.003437067414133805,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-1.2092538048595256e-17,4.547648050386067e-18,-4.616328307345198e-08],"qvel":[-0.00018004554898049706,0.001812671585942547,-0.21295172904394463,0.2074345146244244,5.416338396427978e-06,-1.2104912686444477e-05,-0.00011341183658667185,-3.296933689015572e-05,-4.329680612115332e-06,0.00024581413424709127,-0.00010756950882113781,-2.7117027315683948e-06,9.63801984205302e-05,0.00024965585933083966,-7.226237536692637e-18,-1.4308475861891505e-17,1.1337619773434186e-14,6.861467027357824e-16,-3.2533592655830624e-16,-2.4270193534744923e-08],"joint_position_rad":[-1.5445357665809054,-1.55389881920161,1.5307442069662873,-1.5477947406848602,-1.5707810237820348,0.02625396547778155],"joint_velocity_rad_s":[-0.00018004554898049706,0.001812671585942547,-0.21295172904394463,0.2074345146244244,5.416338396427978e-06,-1.2104912686444477e-05],"linkage_position_rad":[0.0029334437043818957,0.00015610796241100986,0.0031940360449289784,-0.0034286082954392335,0.0029334658053051152,0.00015640910278000292,0.0031994787039259652,-0.003437067414133805],"tcp_position_m":[-0.1470632488701026,0.49542446123753786,0.3412304298250044],"tcp_quaternion_wxyz":[-6.077120724712314e-05,0.7071044470869045,0.7071091110975224,4.71132111334783e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-1.2092538048595256e-17,4.547648050386067e-18,-4.616328307345198e-08],"object_linear_velocity_m_s":[-7.226237536692637e-18,-1.4308475861891505e-17,1.1337619773434186e-14],"object_angular_velocity_rad_s":[6.861466724778859e-16,-3.2533599049485024e-16,-2.427019353474492e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490200982821,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445403703551464,-1.5640863992202472,1.4783101356240889,-1.511374170783445,-1.5707766523827438,0.0262515469684152,0.0],"actuator_force":[0.06281067111058292,-21.10022867165071,-19.687451066818994,-2.5331665117347484,0.0016440658058627378,1.236585466912743e-06,-0.2922405687573115],"issued_joint_targets_rad":[-1.5445447694762198,-1.5529909386996847,1.4841811790448922,-1.5022144452187076,-1.570778034046007,0.02625156646580797],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.659999999999708,"joint_targets_rad":[-1.5445447694762198,-1.5529909386996847,1.4841811790448922,-1.5022144452187076,-1.570778034046007,0.02625156646580797],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6799999999997057,"qpos":[-1.5445357633992904,-1.5538160812175126,1.526323477857378,-1.5434649586754605,-1.5707807195627432,0.026253735042224082,0.002933365789945575,0.00015610718014118905,0.003193964050212753,-0.0034285341179057568,0.002933388103060461,0.00015641104894960323,0.0031994172216144438,-0.0034369904451630397,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-1.4641699169983807e-17,4.709442244021244e-18,-4.635582224297172e-08],"qvel":[-0.00018312118981700831,0.0026906349813767775,-0.21382139917305926,0.2074762735523123,4.695143266344413e-06,-1.0855021189702577e-05,-0.00011260640609320834,-3.3061100182862434e-05,-2.69609034507473e-06,0.0002452495893705008,-0.00010670634951382769,-2.4956182301338402e-06,9.913837533692343e-05,0.0002492312278785741,-2.1749407012032123e-17,-1.0631090833224504e-16,1.157492994494781e-14,-7.973232394903878e-15,1.4013973949851843e-15,-9.755856239594284e-08],"joint_position_rad":[-1.5445357633992904,-1.5538160812175126,1.526323477857378,-1.5434649586754605,-1.5707807195627432,0.026253735042224082],"joint_velocity_rad_s":[-0.00018312118981700831,0.0026906349813767775,-0.21382139917305926,0.2074762735523123,4.695143266344413e-06,-1.0855021189702577e-05],"linkage_position_rad":[0.002933365789945575,0.00015610718014118905,0.003193964050212753,-0.0034285341179057568,0.002933388103060461,0.00015641104894960323,0.0031994172216144438,-0.0034369904451630397],"tcp_position_m":[-0.14706317595534418,0.4954186611178384,0.34293060143044973],"tcp_quaternion_wxyz":[-6.385345783884306e-05,0.70710436423075,0.7071091934954097,4.982803469736083e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-1.4641699169983807e-17,4.709442244021244e-18,-4.635582224297172e-08],"object_linear_velocity_m_s":[-2.1749407012032123e-17,-1.0631090833224504e-16,1.157492994494781e-14],"object_angular_velocity_rad_s":[-7.97323226589688e-15,1.4013981313398193e-15,-9.755856239594283e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490727756617,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445403536035602,-1.5638321231815049,1.4737172686474902,-1.5070360798721336,-1.570776502694962,0.02625156404389974,0.0],"actuator_force":[0.06406806738732485,-21.108337920535178,-19.683858750551735,-2.5331879535676762,0.0016389195640158505,2.956799249886899e-09,-0.2922411308722666],"issued_joint_targets_rad":[-1.5445447596884496,-1.5527181236486174,1.4795682225142752,-1.4978751214348225,-1.5707778844435831,0.02625157580371529],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.6799999999997057,"joint_targets_rad":[-1.5445447596884496,-1.5527181236486174,1.4795682225142752,-1.4978751214348225,-1.5707778844435831,0.02625157580371529],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6999999999997035,"qpos":[-1.5445357625286853,-1.5537151897488146,1.521884682894954,-1.5391342716966083,-1.570780429946465,0.026253527624298438,0.0029333023749932127,0.0001561063827427853,0.0031939065789654184,-0.003428473646182202,0.002933324900097366,0.0001564129831680279,0.003199370277867769,-0.003436927173802068,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-3.36954356874955e-17,7.740596070405485e-18,-4.6725734713363524e-08],"qvel":[-0.00018621420429453325,0.003566883691384257,-0.21469614796988815,0.2075197138625968,4.052579603582015e-06,-9.7604102696175e-06,-0.00011194925773861046,-3.315294333181088e-05,-1.1997610174575793e-06,0.0002448284381348633,-0.00010599120916090948,-2.2781779109762467e-06,0.00010176440993568082,0.0002489504981536504,-8.913357483677832e-18,-3.897524940556602e-17,1.168872780497189e-14,8.378194328612031e-16,-2.748844103564663e-16,-1.0557537003922092e-08],"joint_position_rad":[-1.5445357625286853,-1.5537151897488146,1.521884682894954,-1.5391342716966083,-1.570780429946465,0.026253527624298438],"joint_velocity_rad_s":[-0.00018621420429453325,0.003566883691384257,-0.21469614796988815,0.2075197138625968,4.052579603582015e-06,-9.7604102696175e-06],"linkage_position_rad":[0.0029333023749932127,0.0001561063827427853,0.0031939065789654184,-0.003428473646182202,0.002933324900097366,0.0001564129831680279,0.003199370277867769,-0.003436927173802068],"tcp_position_m":[-0.1470631004545812,0.495412948737037,0.34463030201931044],"tcp_quaternion_wxyz":[-6.657065290411387e-05,0.7071042903497455,0.7071092669537049,5.220655218078516e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-3.36954356874955e-17,7.740596070405485e-18,-4.6725734713363524e-08],"object_linear_velocity_m_s":[-8.913357483677832e-18,-3.897524940556602e-17,1.168872780497189e-14],"object_angular_velocity_rad_s":[8.37819407009404e-16,-2.748844893634038e-16,-1.0557537003922092e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491120485018,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445403444434016,-1.5635602314157366,1.4691055009368312,-1.5026967422510775,-1.5707763521427698,0.026251573393000223,0.0],"actuator_force":[0.06532185228525123,-21.116836810397672,-19.67990472829024,-2.5332066634942976,0.0016336438872031067,-1.0746221477120343e-06,-0.29224166142003133],"issued_joint_targets_rad":[-1.5445447574836062,-1.5524274562486826,1.4749360652131454,-1.4935344584716779,-1.5707777338755156,0.02625157762590967],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.6999999999997035,"joint_targets_rad":[-1.5445447574836062,-1.5524274562486826,1.4749360652131454,-1.4935344584716779,-1.5707777338755156,0.02625157762590967],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7199999999997013,"qpos":[-1.5445357641967774,-1.5535961751059173,1.5174277149820494,-1.5348026397810592,-1.570780153439377,0.026253340296244463,0.00293325079331878,0.00015610557205334458,0.0031938609762374756,-0.00342842435277879,0.002933273530309779,0.000156414908115081,0.0031993352205141904,-0.0034368750725247608,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-2.482988698467106e-17,-3.871578381527191e-18,-4.712392329468125e-08],"qvel":[-0.0001893237376390867,0.004441716890833292,-0.2155760581826944,0.20756512254512136,3.481363713709953e-06,-8.805235874894155e-06,-0.00011141345458547503,-3.324489566390228e-05,1.862434173772738e-07,0.00024452515286475996,-0.0001053971428253073,-2.0593700704999195e-06,0.00010428539140437933,0.00024878816423979706,1.0958499801349334e-17,-3.3801078056122e-17,1.1709544486683614e-14,9.537163059063197e-16,-1.1002595240038359e-15,-4.243798596291964e-08],"joint_position_rad":[-1.5445357641967774,-1.5535961751059173,1.5174277149820494,-1.5348026397810592,-1.570780153439377,0.026253340296244463],"joint_velocity_rad_s":[-0.0001893237376390867,0.004441716890833292,-0.2155760581826944,0.20756512254512136,3.481363713709953e-06,-8.805235874894155e-06],"linkage_position_rad":[0.00293325079331878,0.00015610557205334458,0.0031938609762374756,-0.00342842435277879,0.002933273530309779,0.000156414908115081,0.0031993352205141904,-0.0034368750725247608],"tcp_position_m":[-0.14706302293778414,0.49540733556810124,0.3463295610788195],"tcp_quaternion_wxyz":[-6.895864950052153e-05,0.707104224489941,0.707109332427931,5.428175562070524e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-2.482988698467106e-17,-3.871578381527191e-18,-4.712392329468125e-08],"object_linear_velocity_m_s":[1.0958499801349334e-17,-3.3801078056122e-17,1.1709544486683614e-14],"object_angular_velocity_rad_s":[9.537162025378286e-16,-1.1002596159969998e-15,-4.243798596291964e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491403468076,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445403426672983,-1.563270695804957,1.464474708180192,-1.4983560618617644,-1.5707762006687815,0.02625157522493426,0.0],"actuator_force":[0.06657255401387374,-21.125728154412172,-19.67559033063708,-2.5332232948646833,0.0016282489264085598,-2.012067611190105e-06,-0.29224216319437407],"issued_joint_targets_rad":[-1.5445447626428017,-1.5521189072295904,1.4702845798839124,-1.4891923586791118,-1.5707775822911818,0.026251572144529427],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.7199999999997013,"joint_targets_rad":[-1.5445447626428017,-1.5521189072295904,1.4702845798839124,-1.4891923586791118,-1.5707775822911818,0.026251572144529427],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.739999999999699,"qpos":[-1.544535768608663,-1.5534590617794422,1.5129524652024888,-1.5304700174120685,-1.570779888686161,0.02625317043126211,0.0029332088645552903,0.0001561047495998221,0.0031938250708715634,-0.0034283841710645267,0.002933231813422779,0.00015641682611008178,0.0031993098810216753,-0.0034368320746182494,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-1.402128314917347e-17,-4.933972788133876e-18,-4.728483526222627e-08],"qvel":[-0.00019244892812603253,0.005315412674843944,-0.21646121892485323,0.2076127647165969,2.9749043534638794e-06,-7.975158592251992e-06,-0.00011097694554433515,-3.333698408737283e-05,1.4839992044823664e-06,0.0002443188435975946,-0.00010490209121031773,-1.839179190973918e-06,0.00010672355356097763,0.0002487233584458774,5.743798174906646e-18,-1.9555602452489284e-17,1.1710932265464396e-14,8.444318802195351e-16,4.540280555223858e-16,-4.592529821801495e-09],"joint_position_rad":[-1.544535768608663,-1.5534590617794422,1.5129524652024888,-1.5304700174120685,-1.570779888686161,0.02625317043126211],"joint_velocity_rad_s":[-0.00019244892812603253,0.005315412674843944,-0.21646121892485323,0.2076127647165969,2.9749043534638794e-06,-7.975158592251992e-06],"linkage_position_rad":[0.0029332088645552903,0.0001561047495998221,0.0031938250708715634,-0.0034283841710645267,0.002933231813422779,0.00015641682611008178,0.0031993098810216753,-0.0034368320746182494],"tcp_position_m":[-0.14706294393206612,0.4954018323721847,0.34802840509167066],"tcp_quaternion_wxyz":[-7.104979304362336e-05,0.7071041657952091,0.70710939077461,5.608340067640417e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-1.402128314917347e-17,-4.933972788133876e-18,-4.728483526222627e-08],"object_linear_velocity_m_s":[5.743798174906646e-18,-1.9555602452489284e-17,1.1710932265464396e-14],"object_angular_velocity_rad_s":[8.444319232021339e-16,4.540279755359529e-16,-4.592529821801495e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491596576874,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445403480643014,-1.5629634865621942,1.4598247630725938,-1.4940139413525393,-1.570776048217864,0.026251569751976206,0.0],"actuator_force":[0.06782065997322206,-21.13501463544162,-19.670916689848582,-2.533238441895037,0.0016227437130282851,-2.823783725958151e-06,-0.2922426387151302],"issued_joint_targets_rad":[-1.544544774943756,-1.5517924454996175,1.465613636168901,-1.4848487231195031,-1.5707774296414694,0.026251559575726266],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.739999999999699,"joint_targets_rad":[-1.544544774943756,-1.5517924454996175,1.465613636168901,-1.4848487231195031,-1.5707774296414694,0.026251559575726266],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.759999999999697,"qpos":[-1.5445357759465272,-1.5533038688354301,1.5084588226938365,-1.5261363539359105,-1.5707796344568514,0.026253015675043158,0.0029331748060380364,0.00015610391665046408,0.003193797087752467,-0.0034283514116383485,0.002933197966856499,0.00015641873916895713,0.0031992924867660544,-0.003436796490564191,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-2.4172227110965762e-17,6.378550212971198e-18,-4.773147892443275e-08],"qvel":[-0.00019558891475539856,0.006188230374219729,-0.21735172540954747,0.2076628858653264,2.5272375656946423e-06,-7.25719509681015e-06,-0.00011062168128128139,-3.3429233437580716e-05,2.711602400906208e-06,0.00024419241854951363,-0.00010448799655268085,-1.6175863151260806e-06,0.00010909715515887563,0.0002487390113920689,-7.620366264471453e-18,-2.789849692592598e-17,1.1709544486683614e-14,1.143371994693058e-16,1.411091174166224e-16,-1.8460528818372774e-08],"joint_position_rad":[-1.5445357759465272,-1.5533038688354301,1.5084588226938365,-1.5261363539359105,-1.5707796344568514,0.026253015675043158],"joint_velocity_rad_s":[-0.00019558891475539856,0.006188230374219729,-0.21735172540954747,0.2076628858653264,2.5272375656946423e-06,-7.25719509681015e-06],"linkage_position_rad":[0.0029331748060380364,0.00015610391665046408,0.003193797087752467,-0.0034283514116383485,0.002933197966856499,0.00015641873916895713,0.0031992924867660544,-0.003436796490564191],"tcp_position_m":[-0.14706286392773,0.4953964492945945,0.34972685782906365],"tcp_quaternion_wxyz":[-7.287326089699341e-05,0.7071041134972263,0.7071094427615944,5.76383235507554e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-2.4172227110965762e-17,6.378550212971198e-18,-4.773147892443275e-08],"object_linear_velocity_m_s":[-7.620366264471453e-18,-2.789849692592598e-17,1.1709544486683614e-14],"object_angular_velocity_rad_s":[1.1433721270449615e-16,1.4110910560919034e-16,-1.8460528818372774e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931349171605668,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544540360418985,-1.5626385721731169,1.455155535233893,-1.4896702820539118,-1.5707758947368125,0.026251557190400274,0.0],"actuator_force":[0.06906662098708694,-21.14469882506137,-19.665884756067953,-2.5332526455332527,0.0016171362628938368,-3.522811761413891e-06,-0.292243090255557],"issued_joint_targets_rad":[-1.5445447941597867,-1.551448038091106,1.4609231005254573,-1.4805034515389288,-1.570777275878515,0.026251540140617407],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.759999999999697,"joint_targets_rad":[-1.5445447941597867,-1.551448038091106,1.4609231005254573,-1.4805034515389288,-1.570777275878515,0.026251540140617407],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7799999999996947,"qpos":[-1.5445357863694504,-1.553130610266387,1.5039466745250145,-1.5218015939317369,-1.5707793896349156,0.02625287392012296,0.0029331471606184054,0.00015610307425803548,0.003193775575935239,-0.0034283246938267386,0.0029331705335406194,0.00015642064905218244,0.0031992815891756445,-0.0034367669395328963,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-2.520391461202755e-17,2.0580920446811187e-17,-4.797342125665161e-08],"qvel":[-0.0001987428433948887,0.007060412660241524,-0.21824767873232861,0.20771571388294477,2.1329676806342462e-06,-6.63958379333684e-06,-0.00011033289003529466,-3.3521667028518174e-05,3.883890057204736e-06,0.00024413189792174114,-0.00010414007842781591,-1.3945694810025749e-06,0.00011142120116991152,0.0002488211659053461,-8.974140281248176e-17,-5.968700157374938e-17,1.1709544486683614e-14,-2.4923521203735548e-15,6.217639085145834e-15,-7.4205533219643e-08],"joint_position_rad":[-1.5445357863694504,-1.553130610266387,1.5039466745250145,-1.5218015939317369,-1.5707793896349156,0.02625287392012296],"joint_velocity_rad_s":[-0.0001987428433948887,0.007060412660241524,-0.21824767873232861,0.20771571388294477,2.1329676806342462e-06,-6.63958379333684e-06],"linkage_position_rad":[0.0029331471606184054,0.00015610307425803548,0.003193775575935239,-0.0034283246938267386,0.0029331705335406194,0.00015642064905218244,0.0031992815891756445,-0.0034367669395328963],"tcp_position_m":[-0.14706278338369563,0.4953911959517054,0.3514249406148944],"tcp_quaternion_wxyz":[-7.44553723511126e-05,0.7071040669064621,0.7071094890773224,5.897072687470567e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-2.520391461202755e-17,2.0580920446811187e-17,-4.797342125665161e-08],"object_linear_velocity_m_s":[-8.974140281248176e-17,-5.968700157374938e-17,1.1709544486683614e-14],"object_angular_velocity_rad_s":[-2.4923515268651418e-15,6.217639320538583e-15,-7.4205533219643e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491775184671,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544540379510537,-1.5622959193349235,1.4504668911226006,-1.4853249839526572,-1.5707757401740485,0.026251537761434032,0.0],"actuator_force":[0.0703108551851983,-21.15478320116972,-19.660495311896284,-2.5332663987546766,0.0016114336655164152,-4.1209651282514415e-06,-0.2922435198656357],"issued_joint_targets_rad":[-1.5445448200587808,-1.551085650102188,1.4562128361365188,-1.476156442337449,-1.5707771209554666,0.026251514066265302],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.7799999999996947,"joint_targets_rad":[-1.5445448200587808,-1.551085650102188,1.4562128361365188,-1.476156442337449,-1.5707771209554666,0.026251514066265302],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7999999999996925,"qpos":[-1.5445358000133091,-1.5529392953021297,1.4994159055776348,-1.5174656775428077,-1.5707791532064603,0.026252743282784537,0.0029331247375445754,0.00015610222329482583,0.003193759349783507,-0.003428302889590844,0.0029331483227957185,0.00015642255730457163,0.003199276004881528,-0.0034367422933000327,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-2.5974598318022043e-17,3.3554337630691005e-17,-4.825478612546356e-08],"qvel":[-0.00020190987141947906,0.007932187460299285,-0.21914918569796443,0.2077714609036158,1.7872138756657667e-06,-6.111663210464724e-06,-0.0001100984842121749,-3.3614306913545285e-05,5.013031341048789e-06,0.0002441258490709197,-0.00010384624033375669,-1.1701039842842178e-06,0.00011370803414315979,0.00024895841263685705,-3.884645951638274e-17,-3.065578384437835e-17,1.1703993371560487e-14,8.324380988614545e-16,-1.0245713615191727e-15,-8.030332178149329e-09],"joint_position_rad":[-1.5445358000133091,-1.5529392953021297,1.4994159055776348,-1.5174656775428077,-1.5707791532064603,0.026252743282784537],"joint_velocity_rad_s":[-0.00020190987141947906,0.007932187460299285,-0.21914918569796443,0.2077714609036158,1.7872138756657667e-06,-6.111663210464724e-06],"linkage_position_rad":[0.0029331247375445754,0.00015610222329482583,0.003193759349783507,-0.003428302889590844,0.0029331483227957185,0.00015642255730457163,0.003199276004881528,-0.0034367422933000327],"tcp_position_m":[-0.14706270273238448,0.49538608150990354,0.3531226725639166],"tcp_quaternion_wxyz":[-7.581986827687683e-05,0.7071040254040739,0.7071095303391113,6.0102437596895665e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-2.5974598318022043e-17,3.3554337630691005e-17,-4.825478612546356e-08],"object_linear_velocity_m_s":[-3.884645951638274e-17,-3.065578384437835e-17,1.1703993371560487e-14],"object_angular_velocity_rad_s":[8.32437999441602e-16,-1.0245714422745823e-15,-8.030332178149329e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491784808661,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445404051118201,-1.5619354928921774,1.4457586939453388,-1.480977945664756,-1.5707755844793478,0.026251511692239268,0.0],"actuator_force":[0.07155375154616195,-21.16527016421469,-19.654748985406513,-2.5332801513358163,0.001605642168669874,-4.628951586482799e-06,-0.292243929394285],"issued_joint_targets_rad":[-1.5445448524021506,-1.5507052446344332,1.4514827028162816,-1.4718075925384555,-1.570776964826262,0.02625148158666444],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.7999999999996925,"joint_targets_rad":[-1.5445448524021506,-1.5507052446344332,1.4514827028162816,-1.4718075925384555,-1.570776964826262,0.02625148158666444],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8199999999996903,"qpos":[-1.544535816990741,-1.5527299286840024,1.494866398430204,-1.5131285407727488,-1.5707789242504528,0.02625262208227103,0.0029331065640483094,0.00015610136448240966,0.003193747440764363,-0.0034282850775877844,0.0029331303619206184,0.00015642446528900685,0.0031992747675286194,-0.0034367216303139102,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-2.1290852047540847e-17,2.3804865077926912e-17,-4.865875547291586e-08],"qvel":[-0.00020508917110952473,0.00880376970437261,-0.22005635868890885,0.20783032496964965,1.4855618205559312e-06,-5.663762018267474e-06,-0.00010990857431341495,-3.3707174261707956e-05,6.10901132003541e-06,0.00024416492664252747,-0.00010359658360235617,-9.44162626901295e-07,0.00011596781803110422,0.0002491414301613839,-3.1633604626937164e-17,-3.2688926799228514e-17,1.1767831195476434e-14,8.501991342429936e-16,-1.132475095028991e-15,-3.227941556134517e-08],"joint_position_rad":[-1.544535816990741,-1.5527299286840024,1.494866398430204,-1.5131285407727488,-1.5707789242504528,0.02625262208227103],"joint_velocity_rad_s":[-0.00020508917110952473,0.00880376970437261,-0.22005635868890885,0.20783032496964965,1.4855618205559312e-06,-5.663762018267474e-06],"linkage_position_rad":[0.0029331065640483094,0.00015610136448240966,0.003193747440764363,-0.0034282850775877844,0.0029331303619206184,0.00015642446528900685,0.0031992747675286194,-0.0034367216303139102],"tcp_position_m":[-0.1470626223841273,0.4953811147575372,0.35482007079641364],"tcp_quaternion_wxyz":[-7.698816341490306e-05,0.7071039884346235,0.7071095671005903,6.105313961114246e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-2.1290852047540847e-17,2.3804865077926912e-17,-4.865875547291586e-08],"object_linear_velocity_m_s":[-3.1633604626937164e-17,-3.2688926799228514e-17,1.1767831195476434e-14],"object_angular_velocity_rad_s":[8.50199022496518e-16,-1.1324751791427617e-15,-3.2279415561345176e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491753788344,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445404369884084,-1.5615572557692237,1.4410308035615482,-1.4766290644071352,-1.5707754276035852,0.026251479216899895,0.0],"actuator_force":[0.07279567310933999,-21.176162052192012,-19.648646261748127,-2.53329431415807,0.0015997672517187311,-5.056483741938678e-06,-0.2922443205088675],"issued_joint_targets_rad":[-1.5445448909437636,-1.5503067827260681,1.4467325569105134,-1.4674567977570074,-1.570776807445429,0.026251442943775342],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.8199999999996903,"joint_targets_rad":[-1.5445448909437636,-1.5503067827260681,1.4467325569105134,-1.4674567977570074,-1.570776807445429,0.026251442943775342],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.839999999999688,"qpos":[-1.54453583739115,-1.552502510905647,1.4902980332443607,-1.508790115750117,-1.5707787019298616,0.026252508822089706,0.0029330918457010895,0.00015610049841576298,0.0031937390579762997,-0.0034282705055621817,0.0029331158565490266,0.0001564263742143589,0.003199277088312247,-0.0034367041980870074,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-1.2368728870170714e-17,1.4709325502704254e-17,-4.878114922349862e-08],"qvel":[-0.00020827993197521425,0.009675362920677307,-0.22096931557323157,0.20789249154063338,1.2240198652184204e-06,-5.287099372236377e-06,-0.00010975507076718471,-3.380028960645922e-05,7.180027610258398e-06,0.0002442414936870579,-0.00010338300922080924,-7.1671593580402e-07,0.0001182089354875412,0.0002493626065626498,-1.8621026433247715e-17,-1.7089105960855806e-17,1.1794198992311284e-14,8.765760950042558e-16,-7.595416402735674e-16,-3.4931954293338243e-09],"joint_position_rad":[-1.54453583739115,-1.552502510905647,1.4902980332443607,-1.508790115750117,-1.5707787019298616,0.026252508822089706],"joint_velocity_rad_s":[-0.00020827993197521425,0.009675362920677307,-0.22096931557323157,0.20789249154063338,1.2240198652184204e-06,-5.287099372236377e-06],"linkage_position_rad":[0.0029330918457010895,0.00015610049841576298,0.0031937390579762997,-0.0034282705055621817,0.0029331158565490266,0.0001564263742143589,0.003199277088312247,-0.0034367041980870074],"tcp_position_m":[-0.14706254273115824,0.4953763041707538,0.35651715063168765],"tcp_quaternion_wxyz":[-7.797957398075608e-05,0.7071039554995212,0.707109599858366,6.184058360150273e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-1.2368728870170714e-17,1.4709325502704254e-17,-4.878114922349862e-08],"object_linear_velocity_m_s":[-1.8621026433247715e-17,-1.7089105960855806e-17,1.1794198992311284e-14],"object_angular_velocity_rad_s":[8.765760207988585e-16,-7.595417258807553e-16,-3.493195429333825e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491689356511,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544540474897589,-1.5611611688987808,1.4362830763829824,-1.4722782359681583,-1.570775269498506,0.02625144057745691,0.0],"actuator_force":[0.0740369599116093,-21.187461154538596,-19.642187493464007,-2.533309263083993,0.0015938136912154732,-5.412379174174475e-06,-0.2922446947125658],"issued_joint_targets_rad":[-1.5445449354288305,-1.5498902232803817,1.4419622511910597,-1.463103952167088,-1.5707766487678905,0.026251398388589035],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.839999999999688,"joint_targets_rad":[-1.5445449354288305,-1.5498902232803817,1.4419622511910597,-1.463103952167088,-1.5707766487678905,0.026251398388589035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.859999999999686,"qpos":[-1.544535861280728,-1.552257038423145,1.4857106876523656,-1.5044503309642328,-1.5707784854836295,0.026252402173209902,0.0029330799339545082,0.00015609962558362184,0.0031937335558260634,-0.0034282585595530944,0.0029331041581903508,0.00015642828515883978,0.003199282323668247,-0.003436689382402161,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,3.3952487147919286e-18,2.6875566488161833e-17,-4.9216646450150805e-08],"qvel":[-0.00021148136209947992,0.010547160697093301,-0.22188817965010563,0.2079581348615288,9.989794333203823e-07,-4.973694669611257e-06,-0.00010963135772734466,-3.389367302162384e-05,8.232815589823342e-06,0.0002443493132390013,-0.00010319889161590915,-4.877322849411428e-07,0.00012043831279453023,0.00024961572965349107,-3.173662884188512e-17,1.986576371490323e-18,1.1796974549872848e-14,4.56369356573067e-16,-3.2423569756070837e-16,-1.4041549514885982e-08],"joint_position_rad":[-1.544535861280728,-1.552257038423145,1.4857106876523656,-1.5044503309642328,-1.5707784854836295,0.026252402173209902],"joint_velocity_rad_s":[-0.00021148136209947992,0.010547160697093301,-0.22188817965010563,0.2079581348615288,9.989794333203823e-07,-4.973694669611257e-06],"linkage_position_rad":[0.0029330799339545082,0.00015609962558362184,0.0031937335558260634,-0.0034282585595530944,0.0029331041581903508,0.00015642828515883978,0.003199282323668247,-0.003436689382402161],"tcp_position_m":[-0.14706246415124563,0.49537165797404126,0.3582139257624366],"tcp_quaternion_wxyz":[-7.881152300247178e-05,0.7071039261511427,0.707109629057995,6.248077633142352e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,3.3952487147919286e-18,2.6875566488161833e-17,-4.9216646450150805e-08],"object_linear_velocity_m_s":[-3.173662884188512e-17,1.986576371490323e-18,1.1796974549872848e-14],"object_angular_velocity_rad_s":[4.563693239027283e-16,-3.242357423872963e-16,-1.4041549514885985e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931349159741501,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544540518587315,-1.5607471911462738,1.4315153652675174,-1.4679253546768283,-1.5707751101165035,0.02625139602497373,0.0],"actuator_force":[0.07527793166627816,-21.199169725094634,-19.635372909654052,-2.533325342450553,0.0015877856196766515,-5.704651124815996e-06,-0.2922450533605267],"issued_joint_targets_rad":[-1.5445449855927473,-1.5494555229888503,1.4371716347439918,-1.4587489484677152,-1.5707764887487907,0.026251348182250365],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.859999999999686,"joint_targets_rad":[-1.5445449855927473,-1.5494555229888503,1.4371716347439918,-1.4587489484677152,-1.5707764887487907,0.026251348182250365],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8799999999996837,"qpos":[-1.5445358887024714,-1.5519935038370418,1.4811042366450917,-1.5001091114749552,-1.570778274219402,0.02625230095897895,0.0029330702995651907,0.0001560987463849392,0.0031937304075688394,-0.003428248738682284,0.002933094737655049,0.00015643019909005138,0.003199289948821097,-0.003436676682107052,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.1786697477912857e-17,4.5138397155101825e-17,-4.9544905250858274e-08],"qvel":[-0.0002146926886801222,0.01141934802380172,-0.2228130796316688,0.20802741920369267,8.071791329934935e-07,-4.7162856859415785e-06,-0.00010953202591185497,-3.3987344357381015e-05,9.27291435813656e-06,0.00024448329373258663,-0.00010303881147112836,-2.5717798326429976e-07,0.00012266168682826097,0.000249895734388808,-9.696329245130538e-17,2.794565267715766e-17,1.1792811213530503e-14,1.4715290654404568e-15,4.07800296177421e-15,-5.64426230274183e-08],"joint_position_rad":[-1.5445358887024714,-1.5519935038370418,1.4811042366450917,-1.5001091114749552,-1.570778274219402,0.02625230095897895],"joint_velocity_rad_s":[-0.0002146926886801222,0.01141934802380172,-0.2228130796316688,0.20802741920369267,8.071791329934935e-07,-4.7162856859415785e-06],"linkage_position_rad":[0.0029330702995651907,0.0001560987463849392,0.0031937304075688394,-0.003428248738682284,0.002933094737655049,0.00015643019909005138,0.003199289948821097,-0.003436676682107052],"tcp_position_m":[-0.14706238701101534,0.49536718419620357,0.3599104084118875],"tcp_quaternion_wxyz":[-7.949972556158619e-05,0.7071038999875282,0.7071096550993442,6.298815138798124e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.1786697477912857e-17,4.5138397155101825e-17,-4.9544905250858274e-08],"object_linear_velocity_m_s":[-9.696329245130538e-17,2.794565267715766e-17,1.1792811213530503e-14],"object_angular_velocity_rad_s":[1.4715294644335316e-15,4.0780028172912e-15,-5.644262302741831e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931349148277687,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544540567795104,-1.5603152792293968,1.4267275194067182,-1.4635703133706461,-1.5707749494104217,0.026251345820660316,0.0],"actuator_force":[0.07651889020644376,-21.21128999423081,-19.628202624079677,-2.5333428682147314,0.0015816865769693322,-5.940590723341188e-06,-0.292245397674097],"issued_joint_targets_rad":[-1.5445450411598691,-1.5490026362484597,1.4323605528507781,-1.4543916778478174,-1.5707763273433253,0.02625129259725153],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.8799999999996837,"joint_targets_rad":[-1.5445450411598691,-1.5490026362484597,1.4323605528507781,-1.4543916778478174,-1.5707763273433253,0.02625129259725153],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8999999999996815,"qpos":[-1.5445359196761785,-1.5517118960484626,1.4764785524597723,-1.4957663790987925,-1.5707780675069374,0.02625220414159806,0.0029330625108400007,0.00015609786114306488,0.003193729183644523,-0.0034282406345163504,0.0029330871633001785,0.00015643211688176988,0.0031992995361293606,-0.003436665688478949,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.4492809092750993e-17,4.507406044560203e-17,-4.975891855329631e-08],"qvel":[-0.0002179131577833133,0.012292102531274291,-0.22374414966045225,0.20810049999147415,6.456723100346305e-07,-4.508254236568406e-06,-0.00010945265380739355,-3.4081323400098836e-05,1.0304884880830722e-05,0.0002446392826648713,-0.00010289833691720078,-2.5017396637859387e-08,0.00012488382334210454,0.0002501984956891689,-5.258775650183272e-17,1.5962613506647177e-17,1.1791423434749721e-14,-1.7983605361696667e-16,-1.692584827836603e-15,-6.108075668355408e-09],"joint_position_rad":[-1.5445359196761785,-1.5517118960484626,1.4764785524597723,-1.4957663790987925,-1.5707780675069374,0.02625220414159806],"joint_velocity_rad_s":[-0.0002179131577833133,0.012292102531274291,-0.22374414966045225,0.20810049999147415,6.456723100346305e-07,-4.508254236568406e-06],"linkage_position_rad":[0.0029330625108400007,0.00015609786114306488,0.003193729183644523,-0.0034282406345163504,0.0029330871633001785,0.00015643211688176988,0.0031992995361293606,-0.003436665688478949],"tcp_position_m":[-0.14706231166900463,0.49536289072245976,0.36160660947537093],"tcp_quaternion_wxyz":[-8.005835590826999e-05,0.7071038766476287,0.7071096783413955,6.337572320129389e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.4492809092750993e-17,4.507406044560203e-17,-4.975891855329631e-08],"object_linear_velocity_m_s":[-5.258775650183272e-17,1.5962613506647177e-17,1.1791423434749721e-14],"object_angular_velocity_rad_s":[-1.7983622260997857e-16,-1.6925848097626536e-15,-6.10807566835541e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491349364642,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445406222468665,-1.5598653876323438,1.4219193842065259,-1.4592130033620663,-1.5707747873333635,0.026251290237067383,0.0],"actuator_force":[0.07776012173781055,-21.223824180272004,-19.62067664231199,-2.533362130784326,0.0015755195558995183,-6.1268416811088855e-06,-0.29224572875338595],"issued_joint_targets_rad":[-1.5445451018422227,-1.5485315150726082,1.4275288468617904,-1.4500320299498126,-1.570776164506582,0.026251231918685017],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.8999999999996815,"joint_targets_rad":[-1.5445451018422227,-1.5485315150726082,1.4275288468617904,-1.4500320299498126,-1.570776164506582,0.026251231918685017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9199999999996793,"qpos":[-1.544535954198404,-1.5514122003912543,1.4718335044667825,-1.4914220525735185,-1.570777864772133,0.026252110810014426,0.0029330562158285754,0.00015609697011690742,0.0031937295339438225,-0.0034282339141830055,0.0029330810832222196,0.0001564340393275344,0.00319931073736097,-0.00343665606833425,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,6.360828449195659e-18,4.8698994273293936e-17,-5.016223393749327e-08],"qvel":[-0.00022114203352783352,0.013165595636819478,-0.22468152936203153,0.20817752482578447,5.117976832466566e-07,-4.3435586913089955e-06,-0.00010938962841653805,-3.417563000113751e-05,1.1332488817867583e-05,0.0002448138949746465,-0.00010277384425376767,2.0878709966177879e-07,0.00012710869603369085,0.0002505206571040875,-6.330106891590238e-17,6.070605602274828e-18,1.1788647877188157e-14,-4.578011426146056e-16,-6.915203437500919e-16,-2.4552547566524913e-08],"joint_position_rad":[-1.544535954198404,-1.5514122003912543,1.4718335044667825,-1.4914220525735185,-1.570777864772133,0.026252110810014426],"joint_velocity_rad_s":[-0.00022114203352783352,0.013165595636819478,-0.22468152936203153,0.20817752482578447,5.117976832466566e-07,-4.3435586913089955e-06],"linkage_position_rad":[0.0029330562158285754,0.00015609697011690742,0.0031937295339438225,-0.0034282339141830055,0.0029330810832222196,0.0001564340393275344,0.00319931073736097,-0.00343665606833425],"tcp_position_m":[-0.1470622384784969,0.4953587853432928,0.3633025386478592],"tcp_quaternion_wxyz":[-8.050019822299979e-05,0.7071038558070231,0.7071096991065602,6.365522596736274e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,6.360828449195659e-18,4.8698994273293936e-17,-5.016223393749327e-08],"object_linear_velocity_m_s":[-6.330106891590238e-17,6.070605602274828e-18,1.1788647877188157e-14],"object_angular_velocity_rad_s":[-4.578012143823826e-16,-6.915202975090833e-16,-2.455254756652492e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931349120037274,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544540681655661,-1.559397468514059,1.4170908011603733,-1.4548533144034954,-1.570774623838511,0.026251229559340006,0.0],"actuator_force":[0.07900189889733156,-21.236774500337106,-19.612794868005494,-2.533383397567036,0.0015692870427983507,-6.269468078912155e-06,-0.29224604758918826],"issued_joint_targets_rad":[-1.544545167338115,-1.5480421089948906,1.422676354061323,-1.4456698928317788,-1.5707760001933886,0.026251166445607665],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.9199999999996793,"joint_targets_rad":[-1.544545167338115,-1.5480421089948906,1.422676354061323,-1.4456698928317788,-1.5707760001933886,0.026251166445607665],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.939999999999677,"qpos":[-1.544535992242359,-1.5510943987418322,1.4671689590547126,-1.487076047703231,-1.5707776654916132,0.026252020169104044,0.0029330511277497846,0.00015609607351109903,0.003193731173296788,-0.0034282283065451406,0.002933076210683807,0.000156435967153124,0.00319932326918755,-0.00343664755021509,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,9.560943874659778e-18,4.062922612368057e-17,-5.035701306487375e-08],"qvel":[-0.00022437859658957398,0.014039993611982592,-0.22562536393317442,0.2082586344150364,4.0315278559136976e-07,-4.216672447388406e-06,-0.00010933999854465933,-3.4270284279800027e-05,1.2358834780533143e-05,0.0002450043761842953,-0.00010266237121751251,4.4427497780927735e-07,0.00012933963341693112,0.00025085949282879,-1.1866888419814894e-16,6.265524923310569e-17,1.1796974549872845e-14,5.063669442594518e-15,4.6315420112791174e-15,-9.869353700536886e-08],"joint_position_rad":[-1.544535992242359,-1.5510943987418322,1.4671689590547126,-1.487076047703231,-1.5707776654916132,0.026252020169104044],"joint_velocity_rad_s":[-0.00022437859658957398,0.014039993611982592,-0.22562536393317442,0.2082586344150364,4.0315278559136976e-07,-4.216672447388406e-06],"linkage_position_rad":[0.0029330511277497846,0.00015609607351109903,0.003193731173296788,-0.0034282283065451406,0.002933076210683807,0.000156435967153124,0.00319932326918755,-0.00343664755021509],"tcp_position_m":[-0.14706216779016829,0.4953548758006497,0.36499820453883935],"tcp_quaternion_wxyz":[-8.083678262148168e-05,0.7071038371740718,0.7071097176845503,6.383723896332888e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,9.560943874659778e-18,4.062922612368057e-17,-5.035701306487375e-08],"object_linear_velocity_m_s":[-1.1866888419814894e-16,6.265524923310569e-17,1.1796974549872845e-14],"object_angular_velocity_rad_s":[5.063669901036053e-15,4.631541503183765e-15,-9.869353700536889e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931349103840031,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445407457203453,-1.5589114716097772,1.412241607713895,-1.4504911346507423,-1.5707744588789554,0.026251164086582242,0.0],"actuator_force":[0.08024448266314721,-21.2501431806827,-19.604557108365043,-2.5334069152592065,0.0015629910504912914,-6.374016161103668e-06,-0.29224635507286867],"issued_joint_targets_rad":[-1.5445452373306485,-1.5475343649649391,1.4178029075232326,-1.4413051529281484,-1.5707758343581655,0.026251096492500427],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.939999999999677,"joint_targets_rad":[-1.5445452373306485,-1.5475343649649391,1.4178029075232326,-1.4413051529281484,-1.5707758343581655,0.026251096492500427],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.959999999999675,"qpos":[-1.5445360337577407,-1.550758469608159,1.4624847795129976,-1.4827282774856096,-1.5707774691878231,0.02625193153003103,0.002933047013065304,0.00015609517148323468,0.003193733869594106,-0.0034282235908922242,0.00293307231218755,0.00015643790102631884,0.00319933690131385,-0.0034366399130678215,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,2.3767742050988313e-17,4.308940322538615e-17,-5.073122901464547e-08],"qvel":[-0.00022762214223589689,0.014915458582479117,-0.2265758042661333,0.2083439634227659,3.175699586637718e-07,-4.122527861438907e-06,-0.00010930135458178722,-3.436530667263952e-05,1.3386498431425667e-05,0.0002452084858274053,-0.00010256149673476538,6.814877157476752e-07,0.0001315794397781404,0.00025121279431863393,-5.2590016122744205e-17,2.579017217546038e-17,1.1931589091608644e-14,-1.1495349798177963e-16,-1.5011344531119267e-15,-1.0680361040513486e-08],"joint_position_rad":[-1.5445360337577407,-1.550758469608159,1.4624847795129976,-1.4827282774856096,-1.5707774691878231,0.02625193153003103],"joint_velocity_rad_s":[-0.00022762214223589689,0.014915458582479117,-0.2265758042661333,0.2083439634227659,3.175699586637718e-07,-4.122527861438907e-06],"linkage_position_rad":[0.002933047013065304,0.00015609517148323468,0.003193733869594106,-0.0034282235908922242,0.00293307231218755,0.00015643790102631884,0.00319933690131385,-0.0034366399130678215],"tcp_position_m":[-0.14706209995458674,0.49535116983204874,0.3666936147757502],"tcp_quaternion_wxyz":[-8.107850784903611e-05,0.7071038204864548,0.707109734335855,6.393129957798657e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,2.3767742050988313e-17,4.308940322538615e-17,-5.073122901464547e-08],"object_linear_velocity_m_s":[-5.2590016122744205e-17,2.579017217546038e-17,1.1931589091608644e-14],"object_angular_velocity_rad_s":[-1.1495365121099128e-16,-1.501134440940759e-15,-1.0680361040513491e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490865559934,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544540814124129,-1.558407344125005,1.4073716371203309,-1.4461263506248647,-1.5707742924075339,0.026251094133317426,0.0],"actuator_force":[0.08148812411809558,-21.2639324666834,-19.59596307888023,-2.5334329119041286,0.0015566331486525087,-6.4455706567656534e-06,-0.29224665200605987],"issued_joint_targets_rad":[-1.544545311486109,-1.5470082272353785,1.4129083359561225,-1.4369376950088188,-1.5707756669547814,0.026251022390854688],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.959999999999675,"joint_targets_rad":[-1.544545311486109,-1.5470082272353785,1.4129083359561225,-1.4369376950088188,-1.5707756669547814,0.026251022390854688],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9799999999996727,"qpos":[-1.5445360786704756,-1.5504043881990717,1.4577808259113223,-1.4783786522229327,-1.5707772754245748,0.02625184430168238,0.002933043681721894,0.00015609426415109167,0.0031937374340700983,-0.003428219587689456,0.0029330691977184635,0.0001564398415656445,0.003199351446765956,-0.003436632977004025,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,3.126942046239627e-17,2.994058816905068e-17,-5.1077235158029025e-08],"qvel":[-0.00023087197781686156,0.01579214947175528,-0.22753300711045737,0.20843364124043504,2.530946343897064e-07,-4.056464974689839e-06,-0.00010927173014073697,-3.44607180904846e-05,1.4417620885270392e-05,0.0002454244063537344,-0.00010246924253169236,9.204687192061872e-07,0.00013383049368418838,0.00025157877589843184,-4.17390876617387e-17,5.090160886418331e-17,1.1962120224785838e-14,1.0004179933858994e-15,-1.0857423846377124e-15,-4.2931700049724236e-08],"joint_position_rad":[-1.5445360786704756,-1.5504043881990717,1.4577808259113223,-1.4783786522229327,-1.5707772754245748,0.02625184430168238],"joint_velocity_rad_s":[-0.00023087197781686156,0.01579214947175528,-0.22753300711045737,0.20843364124043504,2.530946343897064e-07,-4.056464974689839e-06],"linkage_position_rad":[0.002933043681721894,0.00015609426415109167,0.0031937374340700983,-0.003428219587689456,0.0029330691977184635,0.0001564398415656445,0.003199351446765956,-0.003436632977004025],"tcp_position_m":[-0.14706203532459633,0.49534767521313705,0.36838877609710763],"tcp_quaternion_wxyz":[-8.123475196700429e-05,0.707103805508057,0.7071097492948648,6.394600526302624e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,3.126942046239627e-17,2.994058816905068e-17,-5.1077235158029025e-08],"object_linear_velocity_m_s":[-4.17390876617387e-17,5.090160886418331e-17,1.1962120224785838e-14],"object_angular_velocity_rad_s":[1.0004178799016558e-15,-1.0857424841499784e-15,-4.2931700049724256e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490683566637,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445408865329917,-1.5578850306209802,1.402480718285543,-1.441758847172316,-1.5707741243766702,0.02625102003107494,0.0],"actuator_force":[0.08273306609453357,-21.278144632518888,-19.587012407375823,-2.53346159873513,0.001550214488815982,-6.488806249649315e-06,-0.29224693910865573],"issued_joint_targets_rad":[-1.544545389452212,-1.5464636372387754,1.4079924635368428,-1.4325674021365498,-1.5707754979364132,0.02625094449090466],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.9799999999996727,"joint_targets_rad":[-1.544545389452212,-1.5464636372387754,1.4079924635368428,-1.4325674021365498,-1.5707754979364132,0.02625094449090466],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9999999999996705,"qpos":[-1.5445361268823594,-1.5500321264749184,1.4530569549750012,-1.474027079618263,-1.5707770838030133,0.02625175798308922,0.002933040979168769,0.00015609335159796737,0.0031937417133512374,-0.003428216151013474,0.002933066712761506,0.00015644178934749194,0.0031993667539468042,-0.0034366265957273415,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,2.724463960798799e-17,1.8340163736361992e-17,-5.12400191396037e-08],"qvel":[-0.00023412741979368014,0.016670222898993555,-0.22849713527437124,0.2085277926932295,2.0796573774736837e-07,-4.014184482590185e-06,-0.0001092495214790076,-3.455654004339365e-05,1.545398938416009e-05,0.0002456506658767652,-0.00010238399252446593,1.1612634834013958e-06,0.00013609482970086963,0.00025195599943496984,-2.4225793768752297e-17,3.0742893396505387e-17,1.1969059118689747e-14,-7.851448979454467e-16,-9.975111721746244e-16,-4.645958291971522e-09],"joint_position_rad":[-1.5445361268823594,-1.5500321264749184,1.4530569549750012,-1.474027079618263,-1.5707770838030133,0.02625175798308922],"joint_velocity_rad_s":[-0.00023412741979368014,0.016670222898993555,-0.22849713527437124,0.2085277926932295,2.0796573774736837e-07,-4.014184482590185e-06],"linkage_position_rad":[0.002933040979168769,0.00015609335159796737,0.0031937417133512374,-0.003428216151013474,0.002933066712761506,0.00015644178934749194,0.0031993667539468042,-0.0034366265957273415],"tcp_position_m":[-0.1470619742576204,0.49534439979922223,0.37008369443630396],"tcp_quaternion_wxyz":[-8.131397219841932e-05,0.7071037920261642,0.7071097627726819,6.388910548788187e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,2.724463960798799e-17,1.8340163736361992e-17,-5.12400191396037e-08],"object_linear_velocity_m_s":[-2.4225793768752297e-17,3.0742893396505387e-17,1.1969059118689747e-14],"object_angular_velocity_rad_s":[-7.851450003408412e-16,-9.975110914597854e-16,-4.645958291971524e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490493810715,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445409625939603,-1.5573444728904704,1.39756867560141,-1.4373885074232742,-1.5707739547382207,0.026250942130123064,0.0],"actuator_force":[0.08397954471547564,-21.292781990701314,-19.577704637433726,-2.533493171828468,0.0015437358225653952,-6.508034818608621e-06,-0.29224721702649636],"issued_joint_targets_rad":[-1.544545470856183,-1.5459005334533071,1.4030551097309083,-1.4281941556225755,-1.5707753272554044,0.02625086316352669],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.9999999999996705,"joint_targets_rad":[-1.544545470856183,-1.5459005334533071,1.4030551097309083,-1.4281941556225755,-1.5707753272554044,0.02625086316352669],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.019999999999677,"qpos":[-1.544536178270578,-1.5496416531802892,1.4483130199554592,-1.4696734648580618,-1.570776893957955,0.02625167215675572,0.002933038779828688,0.00015609243387716736,0.0031937465829535217,-0.003428213162353146,0.002933064731772793,0.00015644374491265522,0.0031993827001362165,-0.0034366206503405076,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,2.1222664535317102e-17,1.6294003732994654e-17,-5.1691858954803945e-08],"qvel":[-0.0002373877902853822,0.017549834042091084,-0.22946835786828948,0.2086265386856141,1.805979839875658e-07,-3.991704446857006e-06,-0.0001092334216154738,-3.465279478758708e-05,1.6497103149549674e-05,0.00024588607590886373,-0.000102304426896947,1.4039195753643012e-06,0.00013837420493515156,0.00025234331253667274,-1.9596671634647914e-17,2.6914254233589202e-17,1.1964895782347402e-14,-1.0075600731827778e-15,-3.752929339268428e-16,-1.8675294503419376e-08],"joint_position_rad":[-1.544536178270578,-1.5496416531802892,1.4483130199554592,-1.4696734648580618,-1.570776893957955,0.02625167215675572],"joint_velocity_rad_s":[-0.0002373877902853822,0.017549834042091084,-0.22946835786828948,0.2086265386856141,1.805979839875658e-07,-3.991704446857006e-06],"linkage_position_rad":[0.002933038779828688,0.00015609243387716736,0.0031937465829535217,-0.003428213162353146,0.002933064731772793,0.00015644374491265522,0.0031993827001362165,-0.0034366206503405076],"tcp_position_m":[-0.1470619171179142,0.4953413515662995,0.37177837499700367],"tcp_quaternion_wxyz":[-8.132379500146855e-05,0.7071037798489347,0.7071097749596477,6.37675846796418e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,2.1222664535317102e-17,1.6294003732994654e-17,-5.1691858954803945e-08],"object_linear_velocity_m_s":[-1.9596671634647914e-17,2.6914254233589202e-17,1.1964895782347402e-14],"object_angular_velocity_rad_s":[-1.0075601125905422e-15,-3.752928289688555e-16,-1.8675294503419386e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490297417201,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445410419332126,-1.5567856098226271,1.392635328766196,-1.433015212748093,-1.5707737834433209,0.02625086080136862,0.0],"actuator_force":[0.08522779084478316,-21.30784690151222,-19.568039231210605,-2.5335278135770523,0.0015371975187008502,-6.507248864195958e-06,-0.29224748633751196],"issued_joint_targets_rad":[-1.5445455553026453,-1.5453188512556013,1.398096089098139,-1.4238178349802395,-1.5707751548631232,0.026250778802330305],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.019999999999677,"joint_targets_rad":[-1.5445455553026453,-1.5453188512556013,1.398096089098139,-1.4238178349802395,-1.5707751548631232,0.026250778802330305],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.039999999999684,"qpos":[-1.5445362326870933,-1.5492329338593593,1.4435488704948853,-1.4653177106823527,-1.570776705554562,0.026251586482827025,0.00293303698175862,0.0001560915110160033,0.003193751941963758,-0.0034282105255608927,0.0029330631528403095,0.00015644570877130582,0.0031993991861799277,-0.0034366150442942376,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.5085469058363735e-17,1.2226196508165633e-17,-5.193661599028682e-08],"qvel":[-0.00024065241315390627,0.01843113747633725,-0.23044685059421058,0.20872999679336152,1.695659151487276e-07,-3.985320276383759e-06,-0.00010922236632638269,-3.474950539594209e-05,1.7548228023066028e-05,0.0002461296803437167,-0.00010222946805648832,1.648486832174146e-06,0.0001406701546007872,0.00025273979631429736,-1.872552108241879e-17,3.711972756264723e-17,1.1967671339908964e-14,9.103123956367833e-16,8.592866655470917e-18,-7.506882388336731e-08],"joint_position_rad":[-1.5445362326870933,-1.5492329338593593,1.4435488704948853,-1.4653177106823527,-1.570776705554562,0.026251586482827025],"joint_velocity_rad_s":[-0.00024065241315390627,0.01843113747633725,-0.23044685059421058,0.20872999679336152,1.695659151487276e-07,-3.985320276383759e-06],"linkage_position_rad":[0.00293303698175862,0.0001560915110160033,0.003193751941963758,-0.0034282105255608927,0.0029330631528403095,0.00015644570877130582,0.0031993991861799277,-0.0034366150442942376],"tcp_position_m":[-0.1470618642788005,0.49533853865210187,0.3734728223209348],"tcp_quaternion_wxyz":[-8.127109732444209e-05,0.7071037688031218,0.707109786027622,6.35877370255884e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.5085469058363735e-17,1.2226196508165633e-17,-5.193661599028682e-08],"object_linear_velocity_m_s":[-1.872552108241879e-17,3.711972756264723e-17,1.1967671339908964e-14],"object_angular_velocity_rad_s":[9.103123946937354e-16,8.592774363277163e-18,-7.506882388336735e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490095294683,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445411241539886,-1.5562083772553355,1.3876804925901909,-1.4286388427116885,-1.570773610442233,0.026250776438448392,0.0],"actuator_force":[0.08647803147096056,-21.32334178248766,-19.558015571704345,-2.5335656940040963,0.0015305995731296207,-6.490161679195694e-06,-0.2922477475580322],"issued_joint_targets_rad":[-1.544545642371284,-1.5447185227589848,1.3931152110816079,-1.4194383178765633,-1.5707749807098206,0.02625069182598078],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.039999999999684,"joint_targets_rad":[-1.544545642371284,-1.5447185227589848,1.3931152110816079,-1.4194383178765633,-1.5707749807098206,0.02625069182598078],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.0599999999996905,"qpos":[-1.5445362899578772,-1.5488059308541848,1.4387643524840272,-1.4609597174434397,-1.5707765182853246,0.02625150069403775,0.0029330355022848323,0.0001560905830189219,0.003193757708690055,-0.003428208162712127,0.0029330618933190735,0.00015644768140786624,0.003199416132143101,-0.003436609699241235,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.5594456460764954e-17,8.094677487856771e-18,-5.2221254195382565e-08],"qvel":[-0.00024392060955948596,0.019314287999534798,-0.2314327960854043,0.20883828180753047,1.7358950199120804e-07,-3.991567481798619e-06,-0.00010921549004313251,-3.4846695952142905e-05,1.860844056035163e-05,0.0002463807136976103,-0.00010215823648667915,1.895017444901641e-06,0.00014298403749272572,0.00025314472593446083,-1.056224279510074e-17,1.759489345286851e-17,1.19274257552663e-14,-1.4860278604372587e-16,-5.720701792768166e-16,-8.123755276066029e-09],"joint_position_rad":[-1.5445362899578772,-1.5488059308541848,1.4387643524840272,-1.4609597174434397,-1.5707765182853246,0.02625150069403775],"joint_velocity_rad_s":[-0.00024392060955948596,0.019314287999534798,-0.2314327960854043,0.20883828180753047,1.7358950199120804e-07,-3.991567481798619e-06],"linkage_position_rad":[0.0029330355022848323,0.0001560905830189219,0.003193757708690055,-0.003428208162712127,0.0029330618933190735,0.00015644768140786624,0.003199416132143101,-0.003436609699241235],"tcp_position_m":[-0.14706181612491645,0.4953359693977032,0.3751670403488149],"tcp_quaternion_wxyz":[-8.116207989944094e-05,0.70710375873201,0.7071097961320388,6.33552339370363e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.5594456460764954e-17,8.094677487856771e-18,-5.2221254195382565e-08],"object_linear_velocity_m_s":[-1.056224279510074e-17,1.759489345286851e-17,1.19274257552663e-14],"object_angular_velocity_rad_s":[-1.4860284592368798e-16,-5.720701635029949e-16,-8.123755276066032e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313489888175008,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445412088342734,-1.5556127078132946,1.3827039767847107,-1.4242592750257825,-1.570773435684193,0.026250689460051997,0.0],"actuator_force":[0.08773049103137964,-21.33926911803337,-19.54763296447163,-2.5336069719245415,0.0015239416155736762,-6.460244696526729e-06,-0.2922480011475463],"issued_joint_targets_rad":[-1.5445457316142563,-1.544099476634996,1.3881122797775838,-1.4150554800815445,-1.5707748047444792,0.026250602680767735],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.0599999999996905,"joint_targets_rad":[-1.5445457316142563,-1.544099476634996,1.3881122797775838,-1.4150554800815445,-1.5707748047444792,0.026250602680767735],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.079999999999697,"qpos":[-1.5445363498819658,-1.5483606032860222,1.433959307911992,-1.4565993831540607,-1.5707763318673194,0.02625141459138978,0.002933034274434658,0.00015608964987008972,0.0031937638171080436,-0.0034282060107208856,0.0029330608862628456,0.0001564496632844789,0.0031994334737601464,-0.0034366045516610157,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,2.8161040181354884e-17,1.21927983337052e-17,-5.26299232323455e-08],"qvel":[-0.0002471916930372738,0.020199441454980704,-0.2324263843022221,0.20895150623598066,1.9152121847621765e-07,-4.007186871072107e-06,-0.0001092120897341071,-3.494439164603629e-05,1.9678665497810322e-05,0.0002466385676072475,-0.00010209001456844176,2.143566142226506e-06,0.00014531707362880304,0.00025355753441617257,-1.8957605468885398e-17,3.946323257176279e-17,1.1851097922323321e-14,6.654260750483696e-16,3.2168502591482233e-16,-3.2654947100260335e-08],"joint_position_rad":[-1.5445363498819658,-1.5483606032860222,1.433959307911992,-1.4565993831540607,-1.5707763318673194,0.02625141459138978],"joint_velocity_rad_s":[-0.0002471916930372738,0.020199441454980704,-0.2324263843022221,0.20895150623598066,1.9152121847621765e-07,-4.007186871072107e-06],"linkage_position_rad":[0.002933034274434658,0.00015608964987008972,0.0031937638171080436,-0.0034282060107208856,0.0029330608862628456,0.0001564496632844789,0.0031994334737601464,-0.0034366045516610157],"tcp_position_m":[-0.14706177305450968,0.4953336523902553,0.3768610324750653],"tcp_quaternion_wxyz":[-8.100233335843094e-05,0.7071037494935564,0.7071098054137677,6.307518489171785e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,2.8161040181354884e-17,1.21927983337052e-17,-5.26299232323455e-08],"object_linear_velocity_m_s":[-1.8957605468885398e-17,3.946323257176279e-17,1.1851097922323321e-14],"object_angular_velocity_rad_s":[6.654261081125723e-16,3.2168495771136885e-16,-3.265494710026035e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313489676645967,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544541295524224,-1.5549985307296823,1.3777055857321339,-1.419876385498807,-1.5707732591172514,0.026250600312490758,0.0],"actuator_force":[0.08898539269875982,-21.355631469311902,-19.536890638827572,-2.5336517959711955,0.0015172229121844794,-6.42076240531253e-06,-0.2922482475133625],"issued_joint_targets_rad":[-1.5445458225532918,-1.543461637915655,1.3830870936837636,-1.4106691954150279,-1.570774626914662,0.02625051184349042],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.079999999999697,"joint_targets_rad":[-1.5445458225532918,-1.543461637915655,1.3830870936837636,-1.4106691954150279,-1.570774626914662,0.02625051184349042],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.099999999999704,"qpos":[-1.5445364122303147,-1.5478969070195259,1.429133574706765,-1.4522366035257692,-1.5707761460397127,0.026251328040519356,0.002933033244021019,0.0001560887115357952,0.0031937702139544968,-0.0034282040185872305,0.002933060077508667,0.00015645165484482729,0.0031994511595327788,-0.003436599550093634,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,2.387692102493042e-17,1.0032300700537801e-17,-5.275374088459159e-08],"qvel":[-0.0002504649639432827,0.0210867555643906,-0.23342781299114787,0.20906978076713953,2.2233439368743784e-07,-4.029091627460549e-06,-0.00010921159539162486,-3.50426189399665e-05,2.0759705169983515e-05,0.000246902762688849,-0.00010202421701705611,2.3941903598487793e-06,0.00014767037610510797,0.00025397778768475966,-1.195301726519856e-17,2.713099638327755e-17,1.1468070978827643e-14,-9.113889018244461e-16,-3.085793530216399e-16,-3.533834487769993e-09],"joint_position_rad":[-1.5445364122303147,-1.5478969070195259,1.429133574706765,-1.4522366035257692,-1.5707761460397127,0.026251328040519356],"joint_velocity_rad_s":[-0.0002504649639432827,0.0210867555643906,-0.23342781299114787,0.20906978076713953,2.2233439368743784e-07,-4.029091627460549e-06],"linkage_position_rad":[0.002933033244021019,0.0001560887115357952,0.0031937702139544968,-0.0034282040185872305,0.002933060077508667,0.00015645165484482729,0.0031994511595327788,-0.003436599550093634],"tcp_position_m":[-0.14706173548181625,0.49533159650744496,0.3785548015969077],"tcp_quaternion_wxyz":[-8.079689787310242e-05,0.7071037409586933,0.7071098140007988,6.275219229990113e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,2.387692102493042e-17,1.0032300700537801e-17,-5.275374088459159e-08],"object_linear_velocity_m_s":[-1.195301726519856e-17,2.713099638327755e-17,1.1468070978827643e-14],"object_angular_velocity_rad_s":[-9.11388934452777e-16,-3.0857925669453625e-16,-3.5338344877699954e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348946117782,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445413837432838,-1.554365771648904,1.3726851182342708,-1.415490047983316,-1.5707730806881135,0.026250509472583238,0.0],"actuator_force":[0.09024295963899931,-21.372431484512617,-19.525787748529638,-2.5337003054872866,0.001510442360313391,-6.374805312958642e-06,-0.2922484870144409],"issued_joint_targets_rad":[-1.544545914676453,-1.5428049277734692,1.3780394454225446,-1.4062793356909156,-1.5707744471663463,0.026250419824685272],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.099999999999704,"joint_targets_rad":[-1.544545914676453,-1.5428049277734692,1.3780394454225446,-1.4062793356909156,-1.5707744471663463,0.026250419824685272],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.119999999999711,"qpos":[-1.544536476744427,-1.5474147946093861,1.424286986564981,-1.4478712719982236,-1.570775960561491,0.026251240968720235,0.0029330323672602234,0.00015608776796593215,0.0031937768563527593,-0.0034282021451314923,0.0029330594232944945,0.00015645365651644624,0.0031994691483587224,-0.00343659465288715,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,3.234487846855624e-17,1.6050247383513805e-17,-5.3194304589086286e-08],"qvel":[-0.00025373970331534276,0.021976390784004228,-0.2344372882160028,0.20919321470069716,2.6511281181032625e-07,-4.054335972596895e-06,-0.0001092135459228555,-3.5141405809256513e-05,2.185226469205033e-05,0.0002471729256164655,-0.00010196036668511485,2.6469505573735923e-06,0.0001500449775041048,0.0002544051604736338,-2.0052336390208793e-17,4.041033557214463e-17,1.1876077940377391e-14,-8.021750186370313e-16,-3.92527439729785e-16,-1.4204905777883791e-08],"joint_position_rad":[-1.544536476744427,-1.5474147946093861,1.424286986564981,-1.4478712719982236,-1.570775960561491,0.026251240968720235],"joint_velocity_rad_s":[-0.00025373970331534276,0.021976390784004228,-0.2344372882160028,0.20919321470069716,2.6511281181032625e-07,-4.054335972596895e-06],"linkage_position_rad":[0.0029330323672602234,0.00015608776796593215,0.0031937768563527593,-0.0034282021451314923,0.0029330594232944945,0.00015645365651644624,0.0031994691483587224,-0.00343659465288715],"tcp_position_m":[-0.14706170383955622,0.49532981096434475,0.3802483501583717],"tcp_quaternion_wxyz":[-8.055031694782204e-05,0.7071037330097911,0.7071098220097796,6.239040098046022e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,3.234487846855624e-17,1.6050247383513805e-17,-5.3194304589086286e-08],"object_linear_velocity_m_s":[-2.0052336390208793e-17,4.041033557214463e-17,1.1876077940377391e-14],"object_angular_velocity_rad_s":[-8.021750608534602e-16,-3.9252735346858657e-16,-1.4204905777883801e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313489242145104,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445414729769564,-1.5537143524074153,1.3676423672358125,-1.4111001343206784,-1.5707729003419646,0.026250417450883023,0.0],"actuator_force":[0.09150341626718728,-21.389671909660592,-19.514323371935916,-2.533752631297034,0.0015035984821452075,-6.32532134581254e-06,-0.29224871996469604],"issued_joint_targets_rad":[-1.5445460074344826,-1.5421292632755608,1.3729691214354887,-1.401885770658506,-1.5707742654437518,0.026250327172256345],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.119999999999711,"joint_targets_rad":[-1.5445460074344826,-1.5421292632755608,1.3729691214354887,-1.401885770658506,-1.5707742654437518,0.026250327172256345],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.139999999999717,"qpos":[-1.5445365431347253,-1.5469142152286925,1.4194193727692734,-1.4435032797599836,-1.5707757752093932,0.026251153362598267,0.0029330316088266744,0.00015608681909592577,0.0031937837098723254,-0.003428200357164452,0.0029330588883137816,0.00015645566871338393,0.0031994874075942153,-0.0034365898263512182,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,2.229213343766722e-17,8.012512938450763e-18,-5.352638227964794e-08],"qvel":[-0.0002570151659486918,0.022868511198670807,-0.2354550249722236,0.20932191634924516,3.1904140578364375e-07,-4.080084984121856e-06,-0.00010921756946524698,-3.524078184505864e-05,2.2956972777893477e-05,0.0002474487718022619,-0.0001018980748138042,2.9019103813331266e-06,0.00015244185242106918,0.0002548394192984329,-1.0415148135083826e-17,2.1251781522555057e-17,1.1475009872731552e-14,-8.767164094514623e-16,-9.565951917449722e-16,-5.709926394598361e-08],"joint_position_rad":[-1.5445365431347253,-1.5469142152286925,1.4194193727692734,-1.4435032797599836,-1.5707757752093932,0.026251153362598267],"joint_velocity_rad_s":[-0.0002570151659486918,0.022868511198670807,-0.2354550249722236,0.20932191634924516,3.1904140578364375e-07,-4.080084984121856e-06],"linkage_position_rad":[0.0029330316088266744,0.00015608681909592577,0.0031937837098723254,-0.003428200357164452,0.0029330588883137816,0.00015645566871338393,0.0031994874075942153,-0.0034365898263512182],"tcp_position_m":[-0.14706167858158903,0.4953283053633811,0.3819416801896911],"tcp_quaternion_wxyz":[-8.026668594200362e-05,0.7071037255392475,0.707109829547416,6.199354277462661e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,2.229213343766722e-17,8.012512938450763e-18,-5.352638227964794e-08],"object_linear_velocity_m_s":[-1.0415148135083826e-17,2.1251781522555057e-17,1.1475009872731552e-14],"object_angular_velocity_rad_s":[-8.767165127726348e-16,-9.56595095344323e-16,-5.709926394598365e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313489019844418,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445415626731611,-1.5530441907890133,1.3625771195190106,-1.40670651428285,-1.570772718022293,0.02625032479530937,0.0],"actuator_force":[0.09276698950816353,-21.407355600109895,-19.502496511635854,-2.5338088963577547,0.0014966894095778116,-6.275146036571755e-06,-0.29224894663562756],"issued_joint_targets_rad":[-1.544546100236676,-1.5414345571075243,1.367875901644279,-1.397488367940656,-1.5707740816891518,0.02625023447559843],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.139999999999717,"joint_targets_rad":[-1.544546100236676,-1.5414345571075243,1.367875901644279,-1.397488367940656,-1.5707740816891518,0.02625023447559843],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.159999999999724,"qpos":[-1.5445366110786218,-1.5463951145779435,1.4145305579912422,-1.4391325157613277,-1.5707755897760223,0.026251065266343708,0.002933030940264291,0.00015608586484748438,0.0031937907469453434,-0.003428198627973633,0.002933058444126678,0.00015645769183798475,0.0031995059114722927,-0.0034365850432548743,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.2772509395639561e-17,3.7515999168916225e-18,-5.3742885365231455e-08],"qvel":[-0.00026029057267452124,0.023763285470866813,-0.2364812478979824,0.2094559934150164,3.833980053953436e-07,-4.103585045286992e-06,-0.00010922336733936134,-3.5340778573052163e-05,2.4074399060743377e-05,0.0002477300894682053,-0.00010183702487301739,3.159137090598068e-06,0.00015486193668454848,0.0002552804076394909,-5.2421915837336485e-18,1.7223609711763145e-17,1.1394518703446224e-14,-7.3605506784069125e-16,-3.5115831667464163e-16,-6.179135661715373e-09],"joint_position_rad":[-1.5445366110786218,-1.5463951145779435,1.4145305579912422,-1.4391325157613277,-1.5707755897760223,0.026251065266343708],"joint_velocity_rad_s":[-0.00026029057267452124,0.023763285470866813,-0.2364812478979824,0.2094559934150164,3.833980053953436e-07,-4.103585045286992e-06],"linkage_position_rad":[0.002933030940264291,0.00015608586484748438,0.0031937907469453434,-0.003428198627973633,0.002933058444126678,0.00015645769183798475,0.0031995059114722927,-0.0034365850432548743],"tcp_position_m":[-0.14706166018577582,0.49532708974824696,0.38363479334250694],"tcp_quaternion_wxyz":[-7.994969583075414e-05,0.7071037184481934,0.7071098367117636,6.15649767653104e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.2772509395639561e-17,3.7515999168916225e-18,-5.3742885365231455e-08],"object_linear_velocity_m_s":[-5.2421915837336485e-18,1.7223609711763145e-17,1.1394518703446224e-14],"object_angular_velocity_rad_s":[-7.360551056315732e-16,-3.511582374013474e-16,-6.179135661715377e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313488794508934,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445416522381148,-1.5523552002502388,1.3574891553648847,-1.4023090555109157,-1.5707725336706941,0.02625023209527048,0.0],"actuator_force":[0.09403391008436301,-21.425485532937273,-19.490306093522122,-2.5338692162955567,0.0014897128635311674,-6.227032086414397e-06,-0.29224916725848654],"issued_joint_targets_rad":[-1.544546192446194,-1.5407207172617183,1.362759559072543,-1.3930869929684704,-1.5707738958426691,0.026250142370262335],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.159999999999724,"joint_targets_rad":[-1.544546192446194,-1.5407207172617183,1.362759559072543,-1.3930869929684704,-1.5707738958426691,0.026250142370262335],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.179999999999731,"qpos":[-1.5445366802182463,-1.5458574347732537,1.4096203620777386,-1.4347588667195177,-1.5707754040681186,0.026250976780613677,0.002933030338690138,0.00015608490513002504,0.0031937979455710515,-0.003428196936102516,0.002933058067863328,0.00015645972628256397,0.0031995246398096536,-0.0034365802815994775,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,2.3514812758191026e-17,-2.5471325404601596e-17,-5.41508928308758e-08],"qvel":[-0.0002635651016539255,0.024660887864209686,-0.23751619209887417,0.20959555334526206,4.575460283414553e-07,-4.1221346385457064e-06,-0.00010923070096130533,-3.544142967711822e-05,2.5205067935150605e-05,0.0002480167286798624,-0.00010177695937273362,3.418701887016277e-06,0.00015730614457364124,0.00025572803481012986,3.6709390813972334e-17,3.6470498210098013e-17,1.1411172048815599e-14,1.0628550731062655e-16,-1.1332477558215955e-15,-2.483818644229673e-08],"joint_position_rad":[-1.5445366802182463,-1.5458574347732537,1.4096203620777386,-1.4347588667195177,-1.5707754040681186,0.026250976780613677],"joint_velocity_rad_s":[-0.0002635651016539255,0.024660887864209686,-0.23751619209887417,0.20959555334526206,4.575460283414553e-07,-4.1221346385457064e-06],"linkage_position_rad":[0.002933030338690138,0.00015608490513002504,0.0031937979455710515,-0.003428196936102516,0.002933058067863328,0.00015645972628256397,0.0031995246398096536,-0.0034365802815994775],"tcp_position_m":[-0.1470616491571002,0.4953261746627094,0.3853276909212646],"tcp_quaternion_wxyz":[-7.960267267794121e-05,0.7071037116452901,0.7071098435934229,6.110772553980705e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,2.3514812758191026e-17,-2.5471325404601596e-17,-5.41508928308758e-08],"object_linear_velocity_m_s":[3.6709390813972334e-17,3.6470498210098013e-17,1.1411172048815599e-14],"object_angular_velocity_rad_s":[1.0628538584319357e-16,-1.1332477661643694e-15,-2.4838186442296746e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.093134885663203,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445417410316495,-1.551647289610614,1.3523782481753344,-1.397907623450117,-1.5707723472266613,0.026250139986328976,0.0],"actuator_force":[0.09530441385550148,-21.444064820404037,-19.477750965258565,-2.533933699825866,0.0014826661258666718,-6.183678495474965e-06,-0.29224938202600315],"issued_joint_targets_rad":[-1.5445462833747183,-1.5399876466834626,1.3576198594216176,-1.3886815089121332,-1.570773707842047,0.026250051543287536],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.179999999999731,"joint_targets_rad":[-1.5445462833747183,-1.5399876466834626,1.3576198594216176,-1.3886815089121332,-1.570773707842047,0.026250051543287536],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.199999999999737,"qpos":[-1.5445367501577811,-1.5453011142118231,1.4046885998177627,-1.4303822171168616,-1.5707752179049763,0.026250888062029874,0.0029330297857363,0.00015608393984119597,0.0031938052882581553,-0.0034281952643529664,0.002933057741165376,0.00015646177243054505,0.0031995435769510035,-0.0034365755236092544,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.233854156657298e-17,-2.5591489705950166e-17,-5.4347937975288454e-08],"qvel":[-0.00026683787852627237,0.02556149936493247,-0.23856010410743206,0.20974070366995998,5.409281073202407e-07,-4.133054876145019e-06,-0.0001092393812835531,-3.55427713382241e-05,2.634947168074594e-05,0.00024830859104151167,-0.00010171766916796158,3.6806803401559375e-06,0.00015977538387134174,0.0002561822671066094,8.783807505362869e-17,-2.655580906730442e-17,1.141255982759638e-14,-4.80408786210537e-15,-3.5034223288736313e-15,-9.98417156568701e-08],"joint_position_rad":[-1.5445367501577811,-1.5453011142118231,1.4046885998177627,-1.4303822171168616,-1.5707752179049763,0.026250888062029874],"joint_velocity_rad_s":[-0.00026683787852627237,0.02556149936493247,-0.23856010410743206,0.20974070366995998,5.409281073202407e-07,-4.133054876145019e-06],"linkage_position_rad":[0.0029330297857363,0.00015608393984119597,0.0031938052882581553,-0.0034281952643529664,0.002933057741165376,0.00015646177243054505,0.0031995435769510035,-0.0034365755236092544],"tcp_position_m":[-0.14706164603110597,0.49532557121541154,0.38702037391113375],"tcp_quaternion_wxyz":[-7.922861323081252e-05,0.707103705045605,0.7071098502766548,6.0624507872036934e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.233854156657298e-17,-2.5591489705950166e-17,-5.4347937975288454e-08],"object_linear_velocity_m_s":[8.783807505362869e-17,-2.655580906730442e-17,1.141255982759638e-14],"object_angular_velocity_rad_s":[-4.8040882378027075e-15,-3.503421804225273e-15,-9.984171565687016e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313488335418295,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544541828361874,-1.5509203627012322,1.3472441640492283,-1.3935020812809817,-1.57077215862735,0.026250049155534673,0.0],"actuator_force":[0.09657874322510906,-21.463096724791285,-19.4648298940956,-2.534002449055947,0.0014755460024389322,-6.1477599864190324e-06,-0.2922495910928262],"issued_joint_targets_rad":[-1.5445463722763253,-1.5392352428671328,1.3524565605917793,-1.3842717766074355,-1.570773517622398,0.026249962739315017],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.199999999999737,"joint_targets_rad":[-1.5445463722763253,-1.5392352428671328,1.3524565605917793,-1.3842717766074355,-1.570773517622398,0.026249962739315017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.219999999999744,"qpos":[-1.544536820460331,-1.5447260874121873,1.3997350806867166,-1.426002449191851,-1.5707750311169946,0.026250799323306637,0.0029330292666868312,0.00015608296886760172,0.0031938127611601088,-0.0034281935989661223,0.002933057449322376,0.00015646383065731796,0.003199562710904764,-0.003436570754925438,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-6.8622979403790425e-18,-2.9676146759459555e-17,-5.472650747016165e-08],"qvel":[-0.00027010796520260155,0.026465308929380347,-0.23961324300375217,0.20989155232535078,6.330605826104311e-07,-4.13365927433976e-06,-0.00010924926009177304,-3.564484256148081e-05,2.750808057286588e-05,0.0002486056229979387,-0.00010165898458952267,3.945153133292603e-06,0.00016227057022852648,0.00025664312121671817,3.647481947438012e-17,-4.816959493511642e-18,1.1422274279061851e-14,-4.607247941975029e-16,9.395854964201346e-16,-1.0804613984618425e-08],"joint_position_rad":[-1.544536820460331,-1.5447260874121873,1.3997350806867166,-1.426002449191851,-1.5707750311169946,0.026250799323306637],"joint_velocity_rad_s":[-0.00027010796520260155,0.026465308929380347,-0.23961324300375217,0.20989155232535078,6.330605826104311e-07,-4.13365927433976e-06],"linkage_position_rad":[0.0029330292666868312,0.00015608296886760172,0.0031938127611601088,-0.0034281935989661223,0.002933057449322376,0.00015646383065731796,0.003199562710904764,-0.003436570754925438],"tcp_position_m":[-0.1470616513777265,0.49532529115197954,0.3887128430027523],"tcp_quaternion_wxyz":[-7.8830217025078e-05,0.7071036985695512,0.7071098568404429,6.011776818434831e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-6.8622979403790425e-18,-2.9676146759459555e-17,-5.472650747016165e-08],"object_linear_velocity_m_s":[3.647481947438012e-17,-4.816959493511642e-18,1.1422274279061851e-14],"object_angular_velocity_rad_s":[-4.607246907157565e-16,9.395855466995584e-16,-1.0804613984618432e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313488101908932,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445419134790477,-1.55017431796374,1.3420866613039955,-1.3890922898461073,-1.5707719678073244,0.02624996034753757,0.0],"actuator_force":[0.09785714864756301,-21.482584674857208,-19.451541563941646,-2.534075559663279,0.0014683487768252235,-6.121957099480824e-06,-0.29224979457705386],"issued_joint_targets_rad":[-1.5445464583404385,-1.5384633973922102,1.3472694121384254,-1.379857654477472,-1.5707733251159164,0.02624987676761719],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.219999999999744,"joint_targets_rad":[-1.5445464583404385,-1.5384633973922102,1.3472694121384254,-1.379857654477472,-1.5707733251159164,0.02624987676761719],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.239999999999751,"qpos":[-1.5445368906442498,-1.5441322848260637,1.3947596085641105,-1.4216194429235574,-1.5707748435443294,0.026250710834036198,0.0029330287697737485,0.0001560819920854509,0.003193820353369125,-0.0034281919289605774,0.0029330571805671222,0.00015646590133053687,0.0031995820326364993,-0.003436565963931477,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-1.6198683323918368e-18,-2.5254928133277808e-17,-5.5076538972035584e-08],"qvel":[-0.0002733743470778825,0.02737251489198479,-0.24067588173055546,0.21004820796679852,7.335288410956729e-07,-4.121222216101682e-06,-0.00010926022322811272,-3.574768567566587e-05,2.8681352211492812e-05,0.0002489078099710722,-0.0001016007684948775,4.212206417993637e-06,0.00016479264012218625,0.0002571106581049518,3.6084845526466874e-17,-5.1525538222885206e-18,1.1322354206845588e-14,9.181718939362894e-16,1.4408428693844863e-16,-4.343115789637544e-08],"joint_position_rad":[-1.5445368906442498,-1.5441322848260637,1.3947596085641105,-1.4216194429235574,-1.5707748435443294,0.026250710834036198],"joint_velocity_rad_s":[-0.0002733743470778825,0.02737251489198479,-0.24067588173055546,0.21004820796679852,7.335288410956729e-07,-4.121222216101682e-06],"linkage_position_rad":[0.0029330287697737485,0.0001560819920854509,0.003193820353369125,-0.0034281919289605774,0.0029330571805671222,0.00015646590133053687,0.0031995820326364993,-0.003436565963931477],"tcp_position_m":[-0.14706166580558896,0.4953253469359783,0.3904050986140475],"tcp_quaternion_wxyz":[-7.84099153330101e-05,0.7071036921418589,0.7071098633595089,5.9589703086503956e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-1.6198683323918368e-18,-2.5254928133277808e-17,-5.5076538972035584e-08],"object_linear_velocity_m_s":[3.6084845526466874e-17,-5.1525538222885206e-18,1.1322354206845588e-14],"object_angular_velocity_rad_s":[9.181719120013138e-16,1.4408418565828204e-16,-4.343115789637548e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487865870848,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445419955685364,-1.5494090479898366,1.3369054899322053,-1.3846781075720822,-1.5707717746982632,0.02624987437161788,0.0],"actuator_force":[0.0991398902574474,-21.50253228433985,-19.437884571588256,-2.5341531209422783,0.0014610701489345956,-6.10898754871414e-06,-0.29224999255842854],"issued_joint_targets_rad":[-1.544546540683673,-1.537671995386843,1.342058154650108,-1.3754389984488788,-1.5707731302515522,0.026249794510238535],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.239999999999751,"joint_targets_rad":[-1.544546540683673,-1.537671995386843,1.342058154650108,-1.3754389984488788,-1.5707731302515522,0.026249794510238535],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.259999999999757,"qpos":[-1.5445369601788301,-1.5435196326177822,1.3897619814199615,-1.4172330760093983,-1.5707746550356552,0.026250622922173818,0.0029330282856027566,0.00015608100936049906,0.0031938280563351615,-0.0034281902455891985,0.0029330569255005584,0.0001564679848102988,0.0031996015354876645,-0.003436561141205648,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.2819085910523618e-18,-1.6827452435418666e-17,-5.5241216746234644e-08],"qvel":[-0.0002766359182869813,0.0282833265765095,-0.24174830864475433,0.21021078027448603,8.419834869168168e-07,-4.092945339094047e-06,-0.00010927218498420027,-3.585134687800123e-05,2.9869739839778333e-05,0.0002492151707809663,-0.00010154291041560827,4.481932861444646e-06,0.00016734256502607257,0.00025758498199646157,2.2387159296858658e-17,1.627683167372386e-19,1.1282108622202922e-14,-4.832141734937454e-17,1.1802760495083904e-15,-4.700008337076871e-09],"joint_position_rad":[-1.5445369601788301,-1.5435196326177822,1.3897619814199615,-1.4172330760093983,-1.5707746550356552,0.026250622922173818],"joint_velocity_rad_s":[-0.0002766359182869813,0.0282833265765095,-0.24174830864475433,0.21021078027448603,8.419834869168168e-07,-4.092945339094047e-06],"linkage_position_rad":[0.0029330282856027566,0.00015608100936049906,0.0031938280563351615,-0.0034281902455891985,0.0029330569255005584,0.0001564679848102988,0.0031996015354876645,-0.003436561141205648],"tcp_position_m":[-0.14706168996689464,0.49532575184061145,0.3920971409093671],"tcp_quaternion_wxyz":[-7.796989727129223e-05,0.7071036856905761,0.7071098699053109,5.904228529172848e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.2819085910523618e-18,-1.6827452435418666e-17,-5.5241216746234644e-08],"object_linear_velocity_m_s":[2.2387159296858658e-17,1.627683167372386e-19,1.1282108622202922e-14],"object_angular_velocity_rad_s":[-4.832128679142581e-17,1.180276054859102e-15,-4.7000083370768755e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487627360738,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445420737426532,-1.548624438988926,1.3317003909800398,-1.38025939038591,-1.5707715792286314,0.02624979210982678,0.0],"actuator_force":[0.10042723966898848,-21.52294337289186,-19.423857421941648,-2.5342352157044843,0.0014537051631577924,-6.111639608619157e-06,-0.29225018507816675],"issued_joint_targets_rad":[-1.5445466183403571,-1.5368609149032413,1.3368225190318948,-1.3710156618618183,-1.5707729329546318,0.026249716931454652],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.259999999999757,"joint_targets_rad":[-1.5445466183403571,-1.5368609149032413,1.3368225190318948,-1.3710156618618183,-1.5707729329546318,0.026249716931454652],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.279999999999764,"qpos":[-1.5445370284792272,-1.5428880524062079,1.3847419909640653,-1.4128432238362927,-1.5707744654470028,0.026250535976280992,0.0029330278066848872,0.00015608002054903693,0.0031938358633917157,-0.003428188541906574,0.002933056676622302,0.0001564700814484664,0.003199621214697513,-0.0034365562790896046,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-5.943507990718592e-18,1.060718970378045e-17,-5.5698313165316695e-08],"qvel":[-0.0002798914646787979,0.02919796616437076,-0.24283082935949027,0.2103793802558168,9.58137406339201e-07,-4.0459210947931525e-06,-0.00010928508375573547,-3.595587681337223e-05,3.107370047753292e-05,0.00024952775708043435,-0.00010148532195015956,4.7544325088110895e-06,0.00016992136488002505,0.0002580662366539441,-1.0968572055070679e-17,-9.282746901996575e-18,1.1237699701217918e-14,-8.708526894052347e-17,1.0558150557620678e-15,-1.889255872467189e-08],"joint_position_rad":[-1.5445370284792272,-1.5428880524062079,1.3847419909640653,-1.4128432238362927,-1.5707744654470028,0.026250535976280992],"joint_velocity_rad_s":[-0.0002798914646787979,0.02919796616437076,-0.24283082935949027,0.2103793802558168,9.58137406339201e-07,-4.0459210947931525e-06],"linkage_position_rad":[0.0029330278066848872,0.00015608002054903693,0.0031938358633917157,-0.003428188541906574,0.002933056676622302,0.0001564700814484664,0.003199621214697513,-0.0034365562790896046],"tcp_position_m":[-0.14706172456300054,0.49532652005344785,0.39378896981610134],"tcp_quaternion_wxyz":[-7.751213334214333e-05,0.7071036791460653,0.7071098765470426,5.847728515372632e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-5.943507990718592e-18,1.060718970378045e-17,-5.5698313165316695e-08],"object_linear_velocity_m_s":[-1.0968572055070679e-17,-9.282746901996575e-18,1.1237699701217918e-14],"object_angular_velocity_rad_s":[-8.708515172708168e-17,1.0558150652384914e-15,-1.8892558724671905e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487386417844,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445421470311786,-1.547820370168351,1.326471095831136,-1.3758359916251492,-1.5707713813232957,0.02624971452644555,0.0],"actuator_force":[0.10171948196875746,-21.543821990034758,-19.409458522062323,-2.5343219200099156,0.0014462481128703075,-6.132808241687826e-06,-0.29225037213683],"issued_joint_targets_rad":[-1.5445466902514529,-1.5360300261849615,1.3315622256731157,-1.3665874953727772,-1.5707727331464194,0.026249645088831826],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.279999999999764,"joint_targets_rad":[-1.5445466902514529,-1.5360300261849615,1.3315622256731157,-1.3665874953727772,-1.5707727331464194,0.026249645088831826],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.299999999999771,"qpos":[-1.5445370949004733,-1.5422374609627048,1.379699422250916,-1.40844975944512,-1.5707742746406705,0.026250450448606168,0.002933027327053999,0.00015607902549748766,0.0031938437693623213,-0.003428186812398302,0.0029330564279467933,0.00015647219158735322,0.003199641067005529,-0.0034365513713102078,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-4.693335375772584e-18,2.0057360639871196e-17,-5.5945917649695215e-08],"qvel":[-0.00028313964396962325,0.03011667088857591,-0.24392376894589365,0.21055412054848135,1.0817636819088262e-06,-3.977092455095428e-06,-0.00010929887871445542,-3.606133145918682e-05,3.2293702073950406e-05,0.0002498456496224594,-0.00010142793308836249,5.029814000602085e-06,0.0001725301234650535,0.00025855460624518874,-5.204705796546703e-17,1.7412215937417193e-19,1.0840794969914427e-14,2.16406175154419e-16,3.090770687449824e-15,-7.594215787860895e-08],"joint_position_rad":[-1.5445370949004733,-1.5422374609627048,1.379699422250916,-1.40844975944512,-1.5707742746406705,0.026250450448606168],"joint_velocity_rad_s":[-0.00028313964396962325,0.03011667088857591,-0.24392376894589365,0.21055412054848135,1.0817636819088262e-06,-3.977092455095428e-06],"linkage_position_rad":[0.002933027327053999,0.00015607902549748766,0.0031938437693623213,-0.003428186812398302,0.0029330564279467933,0.00015647219158735322,0.003199641067005529,-0.0034365513713102078],"tcp_position_m":[-0.14706177035085718,0.49532766679702817,0.3954805850389611],"tcp_quaternion_wxyz":[-7.703839666739754e-05,0.7071036724399717,0.7071098833526577,5.789629006150748e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-4.693335375772584e-18,2.0057360639871196e-17,-5.5945917649695215e-08],"object_linear_velocity_m_s":[-5.204705796546703e-17,1.7412215937417193e-19,1.0840794969914427e-14],"object_angular_velocity_rad_s":[2.16406517940024e-16,3.0907706625228795e-15,-7.594215787860902e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487143067628,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445422143702754,-1.546996713006391,1.321217325374859,-1.371407761940833,-1.5707711809030842,0.026249642679045233,0.0],"actuator_force":[0.10301691798349566,-21.565172442803032,-19.39468617375678,-2.5344133027045928,0.0014386924249265576,-6.175534956298634e-06,-0.29225055369102554],"issued_joint_targets_rad":[-1.5445467552515375,-1.5351791908004577,1.3262769834725927,-1.362154346848974,-1.570772530743597,0.02624958014622549],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.299999999999771,"joint_targets_rad":[-1.5445467552515375,-1.5351791908004577,1.3262769834725927,-1.362154346848974,-1.570772530743597,0.02624958014622549],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.319999999999777,"qpos":[-1.544537158730382,-1.5415677698569588,1.3746340532312817,-1.4040525534882788,-1.5707740824841891,0.026250366859106915,0.0029330268419542104,0.00015607802404294475,0.0031938517702339102,-0.003428185052704299,0.0029330561746889936,0.00015647431555805395,0.0031996610903179566,-0.0034365464126936865,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-2.689565756642033e-18,2.5195531806982455e-17,-5.623386727234082e-08],"qvel":[-0.00028637896251729715,0.0310396956417633,-0.24502747458489546,0.21073511572881065,1.212694504612806e-06,-3.883207582728919e-06,-0.00010931354730648921,-3.616777301554757e-05,3.353023169587019e-05,0.0002501689582388545,-0.00010137068930076531,5.308195991648163e-06,0.00017517000539609987,0.000259050316657466,-2.902822711429776e-17,-3.398785490864906e-18,1.1212719683163856e-14,1.5924188686942914e-16,-6.980760079696169e-16,-8.218265237520967e-09],"joint_position_rad":[-1.544537158730382,-1.5415677698569588,1.3746340532312817,-1.4040525534882788,-1.5707740824841891,0.026250366859106915],"joint_velocity_rad_s":[-0.00028637896251729715,0.0310396956417633,-0.24502747458489546,0.21073511572881065,1.212694504612806e-06,-3.883207582728919e-06],"linkage_position_rad":[0.0029330268419542104,0.00015607802404294475,0.0031938517702339102,-0.003428185052704299,0.0029330561746889936,0.00015647431555805395,0.0031996610903179566,-0.0034365464126936865],"tcp_position_m":[-0.1470618281504946,0.4953292084688782,0.3971719860720233],"tcp_quaternion_wxyz":[-7.655028213380645e-05,0.7071036655041376,0.7071098903899546,5.730072189223049e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-2.689565756642033e-18,2.5195531806982455e-17,-5.623386727234082e-08],"object_linear_velocity_m_s":[-2.902822711429776e-17,-3.398785490864906e-18,1.1212719683163856e-14],"object_angular_velocity_rad_s":[1.5924180794427403e-16,-6.980760259233945e-16,-8.218265237520974e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348689732498,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544542274589463,-1.5461533303925705,1.3159387890321108,-1.3669745491919647,-1.5707709778842618,0.026249577731485164,0.0],"actuator_force":[0.10431986684534422,-21.58699932792888,-19.379538564383438,-2.5345094247240922,0.001431030513231235,-6.243052602883381e-06,-0.2922507296491239],"issued_joint_targets_rad":[-1.5445468120534085,-1.5343082606096743,1.3209664886865393,-1.3577160612529044,-1.5707723256576447,0.026249523389145206],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.319999999999777,"joint_targets_rad":[-1.5445468120534085,-1.5343082606096743,1.3209664886865393,-1.3577160612529044,-1.5707723256576447,0.026249523389145206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.339999999999784,"qpos":[-1.5445372191811129,-1.5408788850401944,1.3695456542390485,-1.3996514741800223,-1.5707738888493303,0.026250285800548213,0.0029330263475839343,0.00015607701601351128,0.0031938598628825877,-0.0034281832593692396,0.0029330559130061056,0.00015647645367707799,0.0031996812834204228,-0.003436541398912322,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-4.855562907160563e-18,1.8827437787305312e-17,-5.6647290673956095e-08],"qvel":[-0.0002896077479206781,0.031967316113807626,-0.2461423187874296,0.21092248263060764,1.350821171341492e-06,-3.7607679862494412e-06,-0.0001093290835723263,-3.627527122827523e-05,3.47838034355506e-05,0.00025049782341337554,-0.00010131354933393968,5.589708987355135e-06,0.00017784227577780909,0.00025955363826924414,-2.437597420447623e-17,-6.575894061745629e-18,1.1287659737326054e-14,-2.2168938864712477e-16,-7.717352386644042e-16,-3.3034847489512475e-08],"joint_position_rad":[-1.5445372191811129,-1.5408788850401944,1.3695456542390485,-1.3996514741800223,-1.5707738888493303,0.026250285800548213],"joint_velocity_rad_s":[-0.0002896077479206781,0.031967316113807626,-0.2461423187874296,0.21092248263060764,1.350821171341492e-06,-3.7607679862494412e-06],"linkage_position_rad":[0.0029330263475839343,0.00015607701601351128,0.0031938598628825877,-0.0034281832593692396,0.0029330559130061056,0.00015647645367707799,0.0031996812834204228,-0.003436541398912322],"tcp_position_m":[-0.14706189885379553,0.4953311628054075,0.3988631722086504],"tcp_quaternion_wxyz":[-7.604922367761823e-05,0.7071036582694162,0.707109897727756,5.669185272705342e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-4.855562907160563e-18,1.8827437787305312e-17,-5.6647290673956095e-08],"object_linear_velocity_m_s":[-2.437597420447623e-17,-6.575894061745629e-18,1.1287659737326054e-14],"object_angular_velocity_rad_s":[-2.216894773244674e-16,-7.71735213868999e-16,-3.30348474895125e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486649196932,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544542326396212,-1.5452900756022643,1.3106351836038683,-1.3625361983301165,-1.5707707721779087,0.02624952096927801,0.0],"actuator_force":[0.10562866897043932,-21.609307569662633,-19.364013755387987,-2.534610338107882,0.0014232535936571367,-6.338836476160736e-06,-0.29225089986497066],"issued_joint_targets_rad":[-1.5445468592297764,-1.5334170765200528,1.3156304235534702,-1.3532724805151102,-1.5707721177940932,0.026249476243036633],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.339999999999784,"joint_targets_rad":[-1.5445468592297764,-1.5334170765200528,1.3156304235534702,-1.3532724805151102,-1.5707721177940932,0.026249476243036633],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.359999999999791,"qpos":[-1.5445372753790712,-1.5401707063523076,1.3644339873988554,-1.3952463872390508,-1.5707736936111387,0.026250207944850577,0.0029330258408849417,0.000156076001228411,0.003193868044837217,-0.003428181429661145,0.0029330556397837073,0.00015647860624195623,0.0031997016457260916,-0.003436536326291917,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-4.882551334239516e-18,1.2957351053223092e-17,-5.6772548793220543e-08],"qvel":[-0.0002928241165604039,0.03289983261191475,-0.24726870334036657,0.2111163406807372,1.4960953508520707e-06,-3.6059682575669804e-06,-0.0001093454971498688,-3.63839049127796e-05,3.6054967420968046e-05,0.0002508324164543209,-0.0001012564835578122,5.8744976886941184e-06,0.00018054832447803374,0.00026006489057926724,-1.550596942303409e-17,-5.490014936108825e-18,1.1169698540959632e-14,3.0783827662391282e-16,-6.756450622987415e-16,-3.574946331968477e-09],"joint_position_rad":[-1.5445372753790712,-1.5401707063523076,1.3644339873988554,-1.3952463872390508,-1.5707736936111387,0.026250207944850577],"joint_velocity_rad_s":[-0.0002928241165604039,0.03289983261191475,-0.24726870334036657,0.2111163406807372,1.4960953508520707e-06,-3.6059682575669804e-06],"linkage_position_rad":[0.0029330258408849417,0.000156076001228411,0.003193868044837217,-0.003428181429661145,0.0029330556397837073,0.00015647860624195623,0.0031997016457260916,-0.003436536326291917],"tcp_position_m":[-0.1470619834348707,0.4953335490753896,0.4005541425493112],"tcp_quaternion_wxyz":[-7.553650988321135e-05,0.7071036506643478,0.7071099054372316,5.607081898255961e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-4.882551334239516e-18,1.2957351053223092e-17,-5.6772548793220543e-08],"object_linear_velocity_m_s":[-1.550596942303409e-17,-5.490014936108825e-18,1.1169698540959632e-14],"object_angular_velocity_rad_s":[3.0783819981508294e-16,-6.756450972871747e-16,-3.5749463319684813e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486398685208,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544542368357625,-1.5444067910622414,1.3053061918967979,-1.3580925512722155,-1.5707705636891691,0.026249473817871828,0.0],"actuator_force":[0.10694368951635624,-21.632102464633135,-19.3481096679684,-2.534716084656111,0.0014153514496229036,-6.466663617032964e-06,-0.29225106412989404],"issued_joint_targets_rad":[-1.5445468951913313,-1.532505466974052,1.3102684546355685,-1.3488234433927258,-1.570771907051615,0.02624944029517487],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.359999999999791,"joint_targets_rad":[-1.5445468951913313,-1.532505466974052,1.3102684546355685,-1.3488234433927258,-1.570771907051615,0.02624944029517487],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.379999999999797,"qpos":[-1.5445373263527513,-1.5394431269354307,1.3592988059358262,-1.3908371558226509,-1.5707734966469695,0.026250134050911176,0.0029330253193680035,0.00015607497949870572,0.003193876314071443,-0.0034281795614089883,0.0029330553524575444,0.00015648077352495293,0.0031997221770441262,-0.0034365311916415404,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-9.51216175522919e-18,1.118210732509848e-17,-5.7218237917833926e-08],"qvel":[-0.00029602593482665483,0.03383757476801776,-0.24840706418962624,0.2113168122591567,1.6485318217750477e-06,-3.414625012904976e-06,-0.0001093628130194984,-3.649376389336881e-05,3.7344320832181535e-05,0.0002511729444810432,-0.00010119947288081158,6.162723858334646e-06,0.00018328969498635734,0.0002605844500575401,-1.3892008053262605e-17,-1.1436590809120848e-17,1.1112799610947593e-14,-3.5834541410871976e-17,-4.562380995864079e-17,-1.437016249130626e-08],"joint_position_rad":[-1.5445373263527513,-1.5394431269354307,1.3592988059358262,-1.3908371558226509,-1.5707734966469695,0.026250134050911176],"joint_velocity_rad_s":[-0.00029602593482665483,0.03383757476801776,-0.24840706418962624,0.2113168122591567,1.6485318217750477e-06,-3.414625012904976e-06],"linkage_position_rad":[0.0029330253193680035,0.00015607497949870572,0.003193876314071443,-0.0034281795614089883,0.0029330553524575444,0.00015648077352495293,0.0031997221770441262,-0.0034365311916415404],"tcp_position_m":[-0.14706208296243006,0.4953363883103749,0.40224489600733077],"tcp_quaternion_wxyz":[-7.501329808886141e-05,0.7071036426136214,0.7071099135934317,5.5438634132218456e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-9.51216175522919e-18,1.118210732509848e-17,-5.7218237917833926e-08],"object_linear_velocity_m_s":[-1.3892008053262605e-17,-1.1436590809120848e-17,1.1112799610947593e-14],"object_angular_velocity_rad_s":[-3.583454695327722e-17,-4.5623806131244504e-17,-1.4370162491306277e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486145788534,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445423988784857,-1.5435033068496027,1.2999514810654123,-1.353643446759064,-1.5707703523163403,0.026249437864543416,0.0],"actuator_force":[0.10826532246164788,-21.655389735551125,-19.331824064977354,-2.5348266941222164,0.0014073121325282045,-6.630682587882575e-06,-0.29225122216177585],"issued_joint_targets_rad":[-1.5445469181603046,-1.5315732460902456,1.3048802307951335,-1.3443687853105983,-1.5707716933208924,0.026249417321064925],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.379999999999797,"joint_targets_rad":[-1.5445469181603046,-1.5315732460902456,1.3048802307951335,-1.3443687853105983,-1.5707716933208924,0.026249417321064925],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.399999999999804,"qpos":[-1.544537371017989,-1.5386960325309789,1.3541398533630042,-1.3864236404513877,-1.570773297835514,0.02625006497418442,0.002933024780966583,0.0001560739506280891,0.0031938846688123737,-0.00342817765287868,0.0029330550488620875,0.00015648295576403722,0.003199742877351481,-0.003436525992111124,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-2.261762842134288e-17,1.0717992927807188e-17,-5.755417892636484e-08],"qvel":[-0.00029921077263093607,0.03478090741206473,-0.24955787754828324,0.21152402309307422,1.8082131690626795e-06,-3.1820919610591144e-06,-0.00010938107206995524,-3.6604951623288285e-05,3.865252048861182e-05,0.00025151965461492137,-0.00010114250823873016,6.454570042626928e-06,0.0001860681212287499,0.0002611127600631841,-2.0028184430460196e-17,-4.8544765468830736e-17,1.110169738070134e-14,-2.563287165011569e-15,-4.3725222827300763e-17,-5.776354407892888e-08],"joint_position_rad":[-1.544537371017989,-1.5386960325309789,1.3541398533630042,-1.3864236404513877,-1.570773297835514,0.02625006497418442],"joint_velocity_rad_s":[-0.00029921077263093607,0.03478090741206473,-0.24955787754828324,0.21152402309307422,1.8082131690626795e-06,-3.1820919610591144e-06],"linkage_position_rad":[0.002933024780966583,0.0001560739506280891,0.0031938846688123737,-0.00342817765287868,0.0029330550488620875,0.00015648295576403722,0.003199742877351481,-0.003436525992111124],"tcp_position_m":[-0.14706219861467443,0.49533970358165125,0.4039354313125153],"tcp_quaternion_wxyz":[-7.448062716420705e-05,0.7071036340362491,0.7071099222771109,5.479620015603171e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-2.261762842134288e-17,1.0717992927807188e-17,-5.755417892636484e-08],"object_linear_velocity_m_s":[-2.0028184430460196e-17,-4.8544765468830736e-17,1.110169738070134e-14],"object_angular_velocity_rad_s":[-2.563287171282912e-15,-4.372493038447293e-17,-5.7763544078928946e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313485890505031,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445424161748018,-1.5425794388466372,1.2945707005894032,-1.3491887201963857,-1.5707701379497383,0.026249414884798844,0.0],"actuator_force":[0.10959399542707615,-21.679175596143068,-19.315154527888808,-2.5349421818064,0.0013991215710120741,-6.835496682455755e-06,-0.2922513735898901],"issued_joint_targets_rad":[-1.5445469261383398,-1.530620211351609,1.299465380695113,-1.3399083381807209,-1.5707714764832108,0.026249409316517057],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.399999999999804,"joint_targets_rad":[-1.5445469261383398,-1.530620211351609,1.299465380695113,-1.3399083381807209,-1.5707714764832108,0.026249409316517057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.419999999999811,"qpos":[-1.5445374081599215,-1.5379293006297285,1.3489568625142314,-1.382005698922985,-1.5707730970557874,0.026250001678391848,0.0029330242239119044,0.00015607291441419532,0.0031938931073517813,-0.0034281757026676596,0.002933054727098729,0.00015648515314981237,0.0031997637465564365,-0.0034365207250757856,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-2.4288470862213575e-17,8.598153747763824e-18,-5.7773200760677046e-08],"qvel":[-0.00030237584726635995,0.035730237995698466,-0.2507216676274262,0.21173810269776494,1.9752968453265035e-06,-2.9031570710453487e-06,-0.00010940033241432877,-3.6717588439329585e-05,3.99802990655386e-05,0.0002518728417608399,-0.00010108559050922791,6.750244570418082e-06,0.000188885575629451,0.0002616503441823745,-1.032104747394257e-17,-2.7006383653026677e-17,1.1071166247524148e-14,9.54804407416416e-16,-2.8363508334960887e-16,-6.251022351230699e-09],"joint_position_rad":[-1.5445374081599215,-1.5379293006297285,1.3489568625142314,-1.382005698922985,-1.5707730970557874,0.026250001678391848],"joint_velocity_rad_s":[-0.00030237584726635995,0.035730237995698466,-0.2507216676274262,0.21173810269776494,1.9752968453265035e-06,-2.9031570710453487e-06],"linkage_position_rad":[0.0029330242239119044,0.00015607291441419532,0.0031938931073517813,-0.0034281757026676596,0.002933054727098729,0.00015648515314981237,0.0031997637465564365,-0.0034365207250757856],"tcp_position_m":[-0.14706233169739927,0.4953435203364626,0.4056257470125635],"tcp_quaternion_wxyz":[-7.393942913230034e-05,0.707103624843326,0.7071099315769664,5.4144317869369846e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-2.4288470862213575e-17,8.598153747763824e-18,-5.7773200760677046e-08],"object_linear_velocity_m_s":[-1.032104747394257e-17,-2.7006383653026677e-17,1.1071166247524148e-14],"object_angular_velocity_rad_s":[9.54804374535903e-16,-2.8363519397747626e-16,-6.2510223512307055e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313485632834832,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445424182416474,-1.5416349864458236,1.2891634797751859,-1.3447282034741284,-1.5707699204702876,0.026249406874448832,0.0],"actuator_force":[0.11093017545454131,-21.70346683046955,-19.29809842712075,-2.5350625453481825,0.001390763065273859,-7.0862644019342724e-06,-0.2922515179359139],"issued_joint_targets_rad":[-1.5445469168671524,-1.529646140693479,1.2940235096699588,-1.335441930194218,-1.5707712564086653,0.026249418536922673],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.419999999999811,"joint_targets_rad":[-1.5445469168671524,-1.529646140693479,1.2940235096699588,-1.335441930194218,-1.5707712564086653,0.026249418536922673],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.439999999999817,"qpos":[-1.5445374364107076,-1.537142799433944,1.343749554379189,-1.3775831862135302,-1.570772894186041,0.02624994524984008,0.002933023646623676,0.0001560718706509892,0.0031939016278521777,-0.0034281737096248516,0.0029330543854171635,0.00015648736580750115,0.003199784784228715,-0.003436515388029547,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-1.2859707967497006e-17,1.0265349346016194e-17,-5.818595489440067e-08],"qvel":[-0.00030551795530717776,0.03668602610555378,-0.25189901654806085,0.21195918488078624,2.150025456444846e-06,-2.5719165542502356e-06,-0.00010942067191512863,-3.683181614844435e-05,4.132848517093161e-05,0.00025223285827571647,-0.00010102873117136436,7.049987951541063e-06,0.0001917443302149891,0.0002621978254830955,-1.5213228941104783e-17,-1.4817859273113924e-17,1.1089207371674309e-14,9.090342525248832e-16,1.9358726292757773e-16,-2.5127148377213545e-08],"joint_position_rad":[-1.5445374364107076,-1.537142799433944,1.343749554379189,-1.3775831862135302,-1.570772894186041,0.02624994524984008],"joint_velocity_rad_s":[-0.00030551795530717776,0.03668602610555378,-0.25189901654806085,0.21195918488078624,2.150025456444846e-06,-2.5719165542502356e-06],"linkage_position_rad":[0.002933023646623676,0.0001560718706509892,0.0031939016278521777,-0.0034281737096248516,0.0029330543854171635,0.00015648736580750115,0.003199784784228715,-0.003436515388029547],"tcp_position_m":[-0.14706248366623906,0.49534786681057513,0.4073158414720869],"tcp_quaternion_wxyz":[-7.339053980551016e-05,0.7071036149352117,0.70710994159245,5.3483696263280994e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-1.2859707967497006e-17,1.0265349346016194e-17,-5.818595489440067e-08],"object_linear_velocity_m_s":[-1.5213228941104783e-17,-1.4817859273113924e-17,1.1089207371674309e-14],"object_angular_velocity_rad_s":[9.090342745371196e-16,1.9358715649526906e-16,-2.512714837721357e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313485372783034,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445424028137915,-1.5406697296582814,1.28372942462792,-1.3402617247582467,-1.5707696997477272,0.026249416088884665,0.0],"actuator_force":[0.11227437595516676,-21.728270890896056,-19.28065288331345,-2.5351877604368838,0.0013822166112049672,-7.388822281129137e-06,-0.2922516545866095],"issued_joint_targets_rad":[-1.544546887779956,-1.5286507887829766,1.2885541957500037,-1.3309693855779772,-1.5707710329538516,0.02624944754575346],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.439999999999817,"joint_targets_rad":[-1.544546887779956,-1.5286507887829766,1.2885541957500037,-1.3309693855779772,-1.5707710329538516,0.02624944754575346],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.459999999999824,"qpos":[-1.544537454221719,-1.5363363865756123,1.3385176366815958,-1.3731559543634475,-1.57077268910256,0.026249896914971222,0.0029330230476101228,0.00015607081913257155,0.003193910228124323,-0.0034281716727886905,0.0029330540221025373,0.00015648959377072868,0.003199805989272884,-0.003436509978497478,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-1.0491054669162047e-17,5.815061260484741e-18,-5.8385292418183604e-08],"qvel":[-0.00030863338961463005,0.03764879583636551,-0.25309057723160594,0.21218740833234317,2.3327413762234247e-06,-2.1816186029352365e-06,-0.0001094421919467768,-3.6947803819224666e-05,4.269803112351057e-05,0.0002526001299119295,-0.00010097195357679071,7.354081621975834e-06,0.00019464704060313356,0.0002627559528081972,2.0425293115115317e-17,-6.286081567779767e-17,1.110586071704369e-14,-3.822319266363307e-15,-4.140959594454065e-15,-1.010032519634258e-07],"joint_position_rad":[-1.544537454221719,-1.5363363865756123,1.3385176366815958,-1.3731559543634475,-1.57077268910256,0.026249896914971222],"joint_velocity_rad_s":[-0.00030863338961463005,0.03764879583636551,-0.25309057723160594,0.21218740833234317,2.3327413762234247e-06,-2.1816186029352365e-06],"linkage_position_rad":[0.0029330230476101228,0.00015607081913257155,0.003193910228124323,-0.0034281716727886905,0.0029330540221025373,0.00015648959377072868,0.003199805989272884,-0.003436509978497478],"tcp_position_m":[-0.14706265615432504,0.4953527745404898,0.40900571286898946],"tcp_quaternion_wxyz":[-7.283470863527375e-05,0.7071036041979049,0.7071099524373965,5.281496101872379e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-1.0491054669162047e-17,5.815061260484741e-18,-5.8385292418183604e-08],"object_linear_velocity_m_s":[2.0425293115115317e-17,-6.286081567779767e-17,1.110586071704369e-14],"object_angular_velocity_rad_s":[-3.8223197510802395e-15,-4.140959150238847e-15,-1.0100325196342591e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313485110363612,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544542367317082,-1.5396834254185872,1.2782681138772598,-1.3357891082470372,-1.5707694756382964,0.026249445091577353,0.0],"actuator_force":[0.11362716511985127,-21.753596020495934,-19.26281471602988,-2.535317775029057,0.0013734579941910852,-7.749836640869034e-06,-0.29225178275801517],"issued_joint_targets_rad":[-1.5445468359409742,-1.527633882190349,1.2830569845277346,-1.3264905243048393,-1.5707708059588368,0.026249499274950877],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.459999999999824,"joint_targets_rad":[-1.5445468359409742,-1.527633882190349,1.2830569845277346,-1.3264905243048393,-1.5707708059588368,0.026249499274950877],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.479999999999831,"qpos":[-1.5445374598283887,-1.5355099075130858,1.33326080211873,-1.3687238523446585,-1.5707724816782909,0.02624985806196292,0.0029330224253715097,0.00015606975965876626,0.0031939189053590525,-0.0034281695913257995,0.0029330536353608682,0.0001564918369431526,0.0031998273594983687,-0.0034365044939459843,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-2.0399921231496708e-17,-8.902026258249233e-18,-5.8768266106333677e-08],"qvel":[-0.00031171783794108765,0.03861915214538939,-0.2542970904307287,0.21242291733335938,2.523907447262057e-06,-1.7244675481366361e-06,-0.0001094650231337636,-3.706575610930159e-05,4.409004906145388e-05,0.00025297517462068316,-0.0001009152952494449,7.662859856354743e-06,0.00019759685814611265,0.0002633256357934486,7.472390885976338e-18,-2.4014900583913098e-17,1.1080880698989623e-14,2.709210772652202e-16,-8.122338709553129e-18,-1.0930312459838879e-08],"joint_position_rad":[-1.5445374598283887,-1.5355099075130858,1.33326080211873,-1.3687238523446585,-1.5707724816782909,0.02624985806196292],"joint_velocity_rad_s":[-0.00031171783794108765,0.03861915214538939,-0.2542970904307287,0.21242291733335938,2.523907447262057e-06,-1.7244675481366361e-06],"linkage_position_rad":[0.0029330224253715097,0.00015606975965876626,0.0031939189053590525,-0.0034281695913257995,0.0029330536353608682,0.0001564918369431526,0.0031998273594983687,-0.0034365044939459843],"tcp_position_m":[-0.14706285100711708,0.4953582790076479,0.4106953591878261],"tcp_quaternion_wxyz":[-7.227260799114617e-05,0.7071035924982503,0.7071099642448109,5.213866236400966e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-2.0399921231496708e-17,-8.902026258249233e-18,-5.8768266106333677e-08],"object_linear_velocity_m_s":[7.472390885976338e-18,-2.4014900583913098e-17,1.1080880698989623e-14],"object_angular_velocity_rad_s":[2.7092107650515097e-16,-8.122370998632045e-18,-1.0930312459838894e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313484845604351,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445423088079029,-1.5386758027879637,1.2727790938452692,-1.3313101738809139,-1.5707692479817053,0.026249496814467126,0.0],"actuator_force":[0.11498917614835591,-21.779451407911438,-19.244580374630004,-2.5354525014636238,0.00136445754799297,-8.176993082642525e-06,-0.29225190144470287],"issued_joint_targets_rad":[-1.5445467579694292,-1.526595113011822,1.2775313824081767,-1.3220051617414494,-1.5707705752431185,0.026249577100810616],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.479999999999831,"joint_targets_rad":[-1.5445467579694292,-1.526595113011822,1.2775313824081767,-1.3220051617414494,-1.5707705752431185,0.026249577100810616],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.4999999999998375,"qpos":[-1.5445374512051604,-1.534663193496141,1.327978726146498,-1.3642867259039073,-1.5707722717812123,0.026249830267457613,0.0029330217783006987,0.00015606869204526195,0.0031939276557774623,-0.0034281674645032113,0.0029330532231936993,0.00015649409504250677,0.003199848891034165,-0.003436498931701135,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-1.506142028236539e-17,3.885830330010188e-18,-5.912236979682315e-08],"qvel":[-0.00031476625888803684,0.03959780285747973,-0.25551940763001313,0.21266586262665516,2.7241363550780733e-06,-1.191375693816148e-06,-0.00010948933371389249,-3.718592463010397e-05,4.5505861523667577e-05,0.00025335863241908023,-0.0001008588114728147,7.976726363008264e-06,0.00020059758800778125,0.00026390799688321223,-1.8033086305210325e-17,-1.3018293809841562e-17,1.1096146265578218e-14,6.27017407911067e-16,1.79200081966858e-15,-4.393642632449619e-08],"joint_position_rad":[-1.5445374512051604,-1.534663193496141,1.327978726146498,-1.3642867259039073,-1.5707722717812123,0.026249830267457613],"joint_velocity_rad_s":[-0.00031476625888803684,0.03959780285747973,-0.25551940763001313,0.21266586262665516,2.7241363550780733e-06,-1.191375693816148e-06],"linkage_position_rad":[0.0029330217783006987,0.00015606869204526195,0.0031939276557774623,-0.0034281674645032113,0.0029330532231936993,0.00015649409504250677,0.003199848891034165,-0.003436498931701135],"tcp_position_m":[-0.14706307032692234,0.4953644204604185,0.4123847782096165],"tcp_quaternion_wxyz":[-7.170484217984774e-05,0.7071035796774587,0.7071099771733478,5.145528250440744e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-1.506142028236539e-17,3.885830330010188e-18,-5.912236979682315e-08],"object_linear_velocity_m_s":[-1.8033086305210325e-17,-1.3018293809841562e-17,1.1096146265578218e-14],"object_angular_velocity_rad_s":[6.270176194642747e-16,1.7920007442035698e-15,-4.393642632449625e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313484578553922,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445422238970914,-1.5376465566176376,1.267261871698825,-1.326824736989672,-1.570769016597089,0.0262495746338479,0.0],"actuator_force":[0.11636111969301055,-21.80584738598509,-19.225945843340014,-2.535591805547824,0.0013551784262517685,-8.679235476094505e-06,-0.29225200934878637],"issued_joint_targets_rad":[-1.5445466499432077,-1.5255341302805903,1.2719768475545012,-1.3175131082105171,-1.5707703406001183,0.02624968494016145],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.4999999999998375,"joint_targets_rad":[-1.5445466499432077,-1.5255341302805903,1.2719768475545012,-1.3175131082105171,-1.5707703406001183,0.02624968494016145],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.519999999999844,"qpos":[-1.544537426006819,-1.5337960589404056,1.3226710641426744,-1.3598444173749795,-1.5707720592723304,0.026249815329851562,0.002933021104571867,0.00015606761613928442,0.0031939364741477632,-0.0034281652916652236,0.0029330527832489113,0.0001564963675154453,0.0031998705774806523,-0.0034364932888759085,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-8.757441996735162e-18,1.0438036464284029e-17,-5.9288963395608664e-08],"qvel":[-0.00031777273089485133,0.04058558886689098,-0.2567585224545028,0.21291640251710095,2.934232789071833e-06,-5.716458285369491e-07,-0.00010951534190124446,-3.730862439323952e-05,4.6947073402910326e-05,0.0002537513065271964,-0.0001008025808131219,8.296177952670028e-06,0.0002036539124109534,0.00026450444211952414,-9.953538984991322e-18,-1.0615967280265261e-17,1.1107248495824469e-14,5.852729529207129e-16,4.969523876445718e-17,-4.754687188382054e-09],"joint_position_rad":[-1.544537426006819,-1.5337960589404056,1.3226710641426744,-1.3598444173749795,-1.5707720592723304,0.026249815329851562],"joint_velocity_rad_s":[-0.00031777273089485133,0.04058558886689098,-0.2567585224545028,0.21291640251710095,2.934232789071833e-06,-5.716458285369491e-07],"linkage_position_rad":[0.002933021104571867,0.00015606761613928442,0.0031939364741477632,-0.0034281652916652236,0.0029330527832489113,0.0001564963675154453,0.0031998705774806523,-0.0034364932888759085],"tcp_position_m":[-0.14706331653071936,0.49537124498008905,0.4140739674974],"tcp_quaternion_wxyz":[-7.113195662655055e-05,0.7071035655421349,0.7071099914162817,5.076524294921888e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-8.757441996735162e-18,1.0438036464284029e-17,-5.9288963395608664e-08],"object_linear_velocity_m_s":[-9.953538984991322e-18,-1.0615967280265261e-17,1.1107248495824469e-14],"object_angular_velocity_rad_s":[5.852729587142088e-16,4.969516928072574e-17,-4.75468718838206e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313484309292065,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.544542108653509,-1.5365953390121538,1.2617159063977672,-1.3223326078539295,-1.570768781277499,0.0262496824665461,0.0],"actuator_force":[0.11774379897815379,-21.832795690252624,-19.206906508013162,-2.5357354911850507,0.0013455741367351948,-9.267069875917855e-06,-0.2922521047774671],"issued_joint_targets_rad":[-1.5445465072757318,-1.5244505281387872,1.2663927774630932,-1.313014168432377,-1.5707701017895104,0.026249827373287692],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.519999999999844,"joint_targets_rad":[-1.5445465072757318,-1.5244505281387872,1.2663927774630932,-1.313014168432377,-1.5707701017895104,0.026249827373287692],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.539999999999851,"qpos":[-1.544537381490655,-1.5329082979753934,1.3173374477002338,-1.3553967654491066,-1.570771844003124,0.026249815311046944,0.002933020402006754,0.0001560665318460637,0.003193945353088915,-0.0034281630722369657,0.002933052312630155,0.00015649865340720376,0.0031998924086405014,-0.0034364875622831226,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.3282190182844025e-18,3.239594020158116e-17,-5.975137757273253e-08],"qvel":[-0.0003207302704335634,0.041583526528240676,-0.25801561472360757,0.21317470430037505,3.155254999547211e-06,1.4743851874035621e-07,-0.00010954333428780652,-3.7434257700426754e-05,4.841567616991297e-05,0.0002541542254397256,-0.00010074671352591754,8.621839165146211e-06,0.0002067717178367211,0.0002651167695599227,-3.9052470639463604e-17,-1.3323234260893553e-18,1.112945295631697e-14,4.0479187265426917e-16,-7.765839964242277e-17,-1.9112350549536697e-08],"joint_position_rad":[-1.544537381490655,-1.5329082979753934,1.3173374477002338,-1.3553967654491066,-1.570771844003124,0.026249815311046944],"joint_velocity_rad_s":[-0.0003207302704335634,0.041583526528240676,-0.25801561472360757,0.21317470430037505,3.155254999547211e-06,1.4743851874035621e-07],"linkage_position_rad":[0.002933020402006754,0.0001560665318460637,0.003193945353088915,-0.0034281630722369657,0.002933052312630155,0.00015649865340720376,0.0031998924086405014,-0.0034364875622831226],"tcp_position_m":[-0.14706359242668934,0.4953788058890325,0.41576292437653417],"tcp_quaternion_wxyz":[-7.055444786261273e-05,0.7071035498515161,0.7071100072142649,5.006891222137554e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.3282190182844025e-18,3.239594020158116e-17,-5.975137757273253e-08],"object_linear_velocity_m_s":[-3.9052470639463604e-17,-1.3323234260893553e-18,1.112945295631697e-14],"object_angular_velocity_rad_s":[4.0479186213554905e-16,-7.765844796539551e-17,-1.9112350549536724e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313484037944886,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445419584807807,-1.535521747570182,1.256140596273268,-1.3178335911455215,-1.5707685417822284,0.026249824892843113,0.0],"actuator_force":[0.11913812792181488,-21.860309800872983,-19.187456964488774,-2.53588327824491,0.0013355849479239623,-9.952953790914876e-06,-0.2922521854927768],"issued_joint_targets_rad":[-1.5445463245575572,-1.5233438291293624,1.2607784914668916,-1.3085081407914507,-1.5707698585262482,0.026250009802068427],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.539999999999851,"joint_targets_rad":[-1.5445463245575572,-1.5233438291293624,1.2607784914668916,-1.3085081407914507,-1.5707698585262482,0.026250009802068427],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.5599999999998575,"qpos":[-1.5445373144423207,-1.5319996796884991,1.3119774796614683,-1.3509436329427547,-1.570771625808194,0.026249832589189292,0.0029330196610761815,0.0001560654269302905,0.00319395429970151,-0.0034281607549567056,0.0029330518028315754,0.00015650094719732975,0.0031999144277648876,-0.0034364816830643593,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,3.780576916182537e-18,2.931626146462713e-17,-6.000186263259381e-08],"qvel":[-0.00032363284389064044,0.04259285039037195,-0.2592921249486998,0.21344107866341197,3.38688519478475e-06,9.81158704693521e-07,-0.00010957469037511281,-3.756298403339792e-05,4.9912548298820096e-05,0.00025457159689324,-0.0001006923298613683,8.953908182956475e-06,0.0002099514683862903,0.00026574744688608927,-5.789386845875091e-17,1.0341787134017054e-17,1.1139167407782443e-14,6.478634172258645e-16,1.0221257374111674e-15,-7.682565204732323e-08],"joint_position_rad":[-1.5445373144423207,-1.5319996796884991,1.3119774796614683,-1.3509436329427547,-1.570771625808194,0.026249832589189292],"joint_velocity_rad_s":[-0.00032363284389064044,0.04259285039037195,-0.2592921249486998,0.21344107866341197,3.38688519478475e-06,9.81158704693521e-07],"linkage_position_rad":[0.0029330196610761815,0.0001560654269302905,0.00319395429970151,-0.0034281607549567056,0.0029330518028315754,0.00015650094719732975,0.0031999144277648876,-0.0034364816830643593],"tcp_position_m":[-0.1470639014924394,0.4953871728609551,0.41745164866145185],"tcp_quaternion_wxyz":[-6.998291391573842e-05,0.7071035323089451,0.7071100248621792,4.937623170944276e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,3.780576916182537e-18,2.931626146462713e-17,-6.000186263259381e-08],"object_linear_velocity_m_s":[-5.789386845875091e-17,1.0341787134017054e-17,1.1139167407782443e-14],"object_angular_velocity_rad_s":[6.478635353802752e-16,1.022125660246029e-15,-7.682565204732333e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313483763691115,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445417679573388,-1.5344253088010507,1.250535261511931,-1.3133274852833337,-1.57076829782581,0.026250007314655138,0.0],"actuator_force":[0.12054610751965811,-21.888398381252046,-19.167586319595102,-2.5360340366306673,0.0013253026726260941,-1.0753137548391578e-05,-0.2922522380942054],"issued_joint_targets_rad":[-1.5445455518499116,-1.5224604633078171,1.2565778474049496,-1.3051853769639996,-1.570770286254625,0.026250780731821053],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.5599999999998575,"joint_targets_rad":[-1.5445455518499116,-1.5224604633078171,1.2565778474049496,-1.3051853769639996,-1.570770286254625,0.026250780731821053],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.579999999999864,"qpos":[-1.544538189474989,-1.5311000952196903,1.3066995027445882,-1.3465871779578444,-1.5707715168948784,0.02624991986334097,0.0029324335654048335,0.00015597365119121806,0.0031937216412118246,-0.003427159891139497,0.002932482033140887,0.00015647770972458393,0.0031999236268347706,-0.003435474243656522,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,6.616884654722532e-18,2.5021806637013535e-17,-6.02931621970846e-08],"qvel":[-0.00026992883298821384,0.04229640344289723,-0.25394054162021173,0.20819153963639836,1.1788696335384996e-06,4.417516960527545e-06,-0.00010969246254921591,-2.8016049070552198e-05,7.588792862330697e-06,0.00022017804742904002,-0.00010326351446471721,4.5241669752029575e-06,0.00012044198571119692,0.00022841290847497273,-3.025570128633215e-17,6.667114405743403e-18,1.1065615132401032e-14,-3.2827349930834344e-17,-9.398514764231033e-16,-8.313874706847918e-09],"joint_position_rad":[-1.544538189474989,-1.5311000952196903,1.3066995027445882,-1.3465871779578444,-1.5707715168948784,0.02624991986334097],"joint_velocity_rad_s":[-0.00026992883298821384,0.04229640344289723,-0.25394054162021173,0.20819153963639836,1.1788696335384996e-06,4.417516960527545e-06],"linkage_position_rad":[0.0029324335654048335,0.00015597365119121806,0.0031937216412118246,-0.003427159891139497,0.002932482033140887,0.00015647770972458393,0.0031999236268347706,-0.003435474243656522],"tcp_position_m":[-0.1470637422248918,0.49539668097094,0.41911297063454495],"tcp_quaternion_wxyz":[-7.797737314382328e-05,0.707103871737424,0.7071096840359311,5.688654207221202e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,6.616884654722532e-18,2.5021806637013535e-17,-6.02931621970846e-08],"object_linear_velocity_m_s":[-3.025570128633215e-17,6.667114405743403e-18,1.1065615132401032e-14],"object_angular_velocity_rad_s":[-3.2827463680125495e-17,-9.398514723545443e-16,-8.31387470684793e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313478476569755,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445412068136566,-1.5335512829997338,1.2463434401521594,-1.3100051391234717,-1.5707687251650773,0.026250778404109307,0.0],"actuator_force":[0.10193685586000356,-21.820936937245733,-19.13590853677306,-2.5281345464534297,0.0012779779372067424,-1.2481311884471324e-05,-0.29218100004221637],"issued_joint_targets_rad":[-1.5445433161980955,-1.5222511247652424,1.2562906131127074,-1.3050832606921983,-1.5707725141204167,0.026253010603280266],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.579999999999864,"joint_targets_rad":[-1.5445433161980955,-1.5222511247652424,1.2562906131127074,-1.3050832606921983,-1.5707725141204167,0.026253010603280266],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.599999999999871,"qpos":[-1.5445408589140082,-1.5302858899567269,1.301851362919123,-1.342626450666018,-1.5707717066138416,0.026250206500970034,0.0029303793513516824,0.00015578006152733984,0.0031924098753600754,-0.003424228823887067,0.0029304587013846994,0.00015639917021685522,0.0031990386569888027,-0.0034325191354071393,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-5.567210191729846e-18,8.829294452804756e-18,-6.071139527457348e-08],"qvel":[-0.00013127516980489948,0.038848995794160325,-0.23106112080543403,0.18868865530191625,-5.016376461259925e-06,1.4172457245237103e-05,-9.554939934904506e-05,-2.100926854544931e-06,-8.476405488161811e-05,0.00010060467007108208,-9.537467771324021e-05,-1.1647872323128392e-06,-7.854297101177254e-05,0.00010497401625301663,-5.947951488231427e-18,-6.195633488485769e-18,1.1051737344593217e-14,-8.896532203070858e-16,-1.234306774823349e-15,-3.341916755542626e-08],"joint_position_rad":[-1.5445408589140082,-1.5302858899567269,1.301851362919123,-1.342626450666018,-1.5707717066138416,0.026250206500970034],"joint_velocity_rad_s":[-0.00013127516980489948,0.038848995794160325,-0.23106112080543403,0.18868865530191625,-5.016376461259925e-06,1.4172457245237103e-05],"linkage_position_rad":[0.0029303793513516824,0.00015578006152733984,0.0031924098753600754,-0.003424228823887067,0.0029304587013846994,0.00015639917021685522,0.0031990386569888027,-0.0034325191354071393],"tcp_position_m":[-0.14706262069496515,0.4954065721910965,0.4206473636079204],"tcp_quaternion_wxyz":[-0.00010446518887418175,0.7071049136092651,0.7071086362703178,8.21497924955331e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-5.567210191729846e-18,8.829294452804756e-18,-6.071139527457348e-08],"object_linear_velocity_m_s":[-5.947951488231427e-18,-6.195633488485769e-18,1.1051737344593217e-14],"object_angular_velocity_rad_s":[-8.89653370770189e-16,-1.234306667171268e-15,-3.341916755542631e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313475201297512,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445397314843665,-1.5333482601085557,1.246064104495496,-1.3099046600331181,-1.5707709535197547,0.02625300884096327,0.0],"actuator_force":[0.05476492720526949,-21.664338621321804,-19.150068525080314,-2.5079702137417144,0.0008781846895544732,-1.6075727906184056e-05,-0.29208728225150765],"issued_joint_targets_rad":[-1.5445412477978937,-1.5220740378107838,1.2560460556346376,-1.3049935429023787,-1.5707745752269842,0.026255073389926834],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.599999999999871,"joint_targets_rad":[-1.5445412477978937,-1.5220740378107838,1.2560460556346376,-1.3049935429023787,-1.5707745752269842,0.026255073389926834],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.6199999999998775,"qpos":[-1.5445421856232322,-1.529532992101436,1.297444438898575,-1.3390358183541033,-1.5707719941728246,0.026250663368857223,0.0029288014719199857,0.00015581160457330952,0.003190751803886036,-0.003422841278978147,0.0029288719019233828,0.00015637909271392535,0.0031972189882502884,-0.0034311218100832788,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,-6.913068941238549e-18,3.716520843732672e-18,-6.083811061892935e-08],"qvel":[-9.267562249413954e-05,0.036056696911344416,-0.20996630238660882,0.17108593573285738,-1.2294596004669267e-05,2.226804291972071e-05,-6.908851219887775e-05,1.0125456061325294e-06,-7.089145620972828e-05,6.003416715338789e-05,-6.897218932744038e-05,1.0018540709059114e-06,-7.038308575953846e-05,6.048421799578591e-05,-4.769356206151167e-18,-7.385007266879713e-18,1.0915735024076638e-14,2.937001007728845e-16,-2.497215351429217e-16,-3.616536462220194e-09],"joint_position_rad":[-1.5445421856232322,-1.529532992101436,1.297444438898575,-1.3390358183541033,-1.5707719941728246,0.026250663368857223],"joint_velocity_rad_s":[-9.267562249413954e-05,0.036056696911344416,-0.20996630238660882,0.17108593573285738,-1.2294596004669267e-05,2.226804291972071e-05],"linkage_position_rad":[0.0029288014719199857,0.00015581160457330952,0.003190751803886036,-0.003422841278978147,0.0029288719019233828,0.00015637909271392535,0.0031972189882502884,-0.0034311218100832788],"tcp_position_m":[-0.14706212652478418,0.4954157799346618,0.42203520073546497],"tcp_quaternion_wxyz":[-0.000127359908386729,0.7071055406213526,0.7071080026213984,0.00010407119721972574],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,-6.913068941238549e-18,3.716520843732672e-18,-6.083811061892935e-08],"object_linear_velocity_m_s":[-4.769356206151167e-18,-7.385007266879713e-18,1.0915735024076638e-14],"object_angular_velocity_rad_s":[2.9370007036082814e-16,-2.497215709292414e-16,-3.6165364622202e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931349297953502,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445383146031084,-1.5331771964501928,1.2458268693415766,-1.3098163507214056,-1.5707730154528832,0.02625507211419714,0.0],"actuator_force":[0.04481228924532843,-21.711087462051182,-19.248618159353555,-2.498859756936781,0.0007188195712615197,-2.243162201409632e-05,-0.2921933651845368],"issued_joint_targets_rad":[-1.5445393438454924,-1.5219264711034777,1.2558406618687963,-1.3049153781258511,-1.5707764732985323,0.02625697267683776],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.6199999999998775,"joint_targets_rad":[-1.5445393438454924,-1.5219264711034777,1.2558406618687963,-1.3049153781258511,-1.5707764732985323,0.02625697267683776],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.639999999999884,"qpos":[-1.5445431082616818,-1.5288348584228273,1.2934417243525835,-1.3357803796019776,-1.5707724223645156,0.02625125916947943,0.002927704920864859,0.00015585691142636725,0.003189490856014225,-0.0034219777660130005,0.002927769219473927,0.0001563760076384357,0.0031957830285574917,-0.0034302905228229003,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,7.199302997601698e-18,6.7193200399014624e-18,-6.12889847916588e-08],"qvel":[-7.153355450180428e-05,0.03343740731679386,-0.1906979029772233,0.15512001541808365,-1.9674818774931964e-05,2.8851703912221292e-05,-4.680454708318235e-05,1.154663808846206e-06,-5.0345780884180824e-05,3.8751750989370546e-05,-4.668833156662498e-05,9.472427521358286e-07,-5.104139492296747e-05,3.831619547883641e-05,-5.42647798207304e-18,6.013612376624926e-18,1.0918510581638201e-14,3.342209409696065e-16,2.603949714338748e-16,-1.4537341764567428e-08],"joint_position_rad":[-1.5445431082616818,-1.5288348584228273,1.2934417243525835,-1.3357803796019776,-1.5707724223645156,0.02625125916947943],"joint_velocity_rad_s":[-7.153355450180428e-05,0.03343740731679386,-0.1906979029772233,0.15512001541808365,-1.9674818774931964e-05,2.8851703912221292e-05],"linkage_position_rad":[0.002927704920864859,0.00015585691142636725,0.003189490856014225,-0.0034219777660130005,0.002927769219473927,0.0001563760076384357,0.0031957830285574917,-0.0034302905228229003],"tcp_position_m":[-0.14706179571081204,0.4954248970228932,0.42328794537206005],"tcp_quaternion_wxyz":[-0.00014503696672136076,0.7071060742271187,0.7071074628942702,0.00012113883938222131],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,7.199302997601698e-18,6.7193200399014624e-18,-6.12889847916588e-08],"object_linear_velocity_m_s":[-5.42647798207304e-18,6.013612376624926e-18,1.0918510581638201e-14],"object_angular_velocity_rad_s":[3.3422097269292925e-16,2.603949306750664e-16,-1.4537341764567452e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313508399720989,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445369465630874,-1.5330355227479597,1.2456282349598564,-1.3097393424828199,-1.570774914829557,0.026256971796968346,0.0],"actuator_force":[0.04093681898984869,-21.776291576982658,-19.347817594565186,-2.4914829822295133,0.0007212493569568323,-2.8856646762775995e-05,-0.29230624262369026],"issued_joint_targets_rad":[-1.5445375937036514,-1.5218035290511318,1.2556681979529,-1.3048472749415054,-1.5707782185140573,0.026258719053426083],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.639999999999884,"joint_targets_rad":[-1.5445375937036514,-1.5218035290511318,1.2556681979529,-1.3048472749415054,-1.5707782185140573,0.026258719053426083],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.659999999999891,"qpos":[-1.5445437662298316,-1.5281885449622283,1.2898076619421521,-1.3328290336437325,-1.5707729755435207,0.02625196599073683,0.0029269964363377223,0.00015589922087265296,0.003188619733869699,-0.0034214692734595843,0.0029270553606421277,0.0001563736624162811,0.00319474741803331,-0.0034298158702786644,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,6.163967698802408e-18,3.3989595761550544e-17,-6.162883406314072e-08],"qvel":[-5.415930494475446e-05,0.030945277478492458,-0.17313180974804201,0.14063240715962147,-2.5823853847719183e-05,3.410385714038398e-05,-2.9273882598560642e-05,1.146707769031263e-06,-3.309285516152773e-05,2.23746209523165e-05,-2.9203320260525827e-05,7.631818409994542e-07,-3.4493512487847654e-05,2.1837144074803026e-05,-8.527934846093279e-17,1.1677520996785192e-17,1.0929612811884454e-14,-4.526229388007907e-16,4.9417984292594855e-15,-5.843555229915108e-08],"joint_position_rad":[-1.5445437662298316,-1.5281885449622283,1.2898076619421521,-1.3328290336437325,-1.5707729755435207,0.02625196599073683],"joint_velocity_rad_s":[-5.415930494475446e-05,0.030945277478492458,-0.17313180974804201,0.14063240715962147,-2.5823853847719183e-05,3.410385714038398e-05],"linkage_position_rad":[0.0029269964363377223,0.00015589922087265296,0.003188619733869699,-0.0034214692734595843,0.0029270553606421277,0.0001563736624162811,0.00319474741803331,-0.0034298158702786644],"tcp_position_m":[-0.14706156175291601,0.49543388869780663,0.4244184673367144],"tcp_quaternion_wxyz":[-0.0001580503969454866,0.7071065540978642,0.7071069779399571,0.00013386760831500703],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,6.163967698802408e-18,3.3989595761550544e-17,-6.162883406314072e-08],"object_linear_velocity_m_s":[-8.527934846093279e-17,1.1677520996785192e-17,1.0929612811884454e-14],"object_angular_velocity_rad_s":[-4.526223336586388e-16,4.941798485769094e-15,-5.843555229915117e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313520057846927,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445356348340251,-1.5329183043553365,1.2454619960246003,-1.309672179430508,-1.5707766617803205,0.02625871849171072,0.0],"actuator_force":[0.03792651359071897,-21.837629777613074,-19.43860793588692,-2.4848136093497715,0.0007392669849650702,-3.413522709472261e-05,-0.29241020383469707],"issued_joint_targets_rad":[-1.5445359872107074,-1.5217009920951616,1.2555232578021327,-1.3047879080582974,-1.5707798208550843,0.02626032258031985],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.659999999999891,"joint_targets_rad":[-1.5445359872107074,-1.5217009920951616,1.2555232578021327,-1.3047879080582974,-1.5707798208550843,0.02626032258031985],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.679999999999898,"qpos":[-1.5445441922728644,-1.5275913662199185,1.2865094168802096,-1.3301535928349735,-1.5707736294276302,0.02625275945785615,0.0029265891493092133,0.00015593775585969955,0.0031880610053082884,-0.0034212319328618,0.00292664308648496,0.00015637096182170583,0.003194036439136721,-0.003429609758558131,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,4.966301657495865e-18,4.135902317959115e-17,-6.185040394874397e-08],"qvel":[-3.881866442170428e-05,0.028582885629148666,-0.15713145909036166,0.12748702613755453,-3.0733997739476174e-05,3.819671477038653e-05,-1.5769751784365234e-05,1.1015158375060822e-06,-1.9644089494071943e-05,9.904701139165881e-06,-1.5735893546985922e-05,5.951795529712337e-07,-2.1516337725293317e-05,9.319080566507003e-06,-4.6322288091644226e-17,5.419833390306392e-18,1.0986511741896497e-14,1.664296681979773e-17,-1.3819599674941225e-15,-6.323745354498842e-09],"joint_position_rad":[-1.5445441922728644,-1.5275913662199185,1.2865094168802096,-1.3301535928349735,-1.5707736294276302,0.02625275945785615],"joint_velocity_rad_s":[-3.881866442170428e-05,0.028582885629148666,-0.15713145909036166,0.12748702613755453,-3.0733997739476174e-05,3.819671477038653e-05],"linkage_position_rad":[0.0029265891493092133,0.00015593775585969955,0.0031880610053082884,-0.0034212319328618,0.00292664308648496,0.00015637096182170583,0.003194036439136721,-0.003429609758558131],"tcp_position_m":[-0.14706141220010424,0.4954426665290845,0.42543868371911464],"tcp_quaternion_wxyz":[-0.00016712007034121705,0.7071069832758506,0.7071065449040873,0.00014292379571546543],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,4.966301657495865e-18,4.135902317959115e-17,-6.185040394874397e-08],"object_linear_velocity_m_s":[-4.6322288091644226e-17,5.419833390306392e-18,1.0986511741896497e-14],"object_angular_velocity_rad_s":[1.6642795347145313e-17,-1.3819599694900514e-15,-6.323745354498852e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313528563465907,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445343867034211,-1.532821276251849,1.2453227777427773,-1.3096135723846627,-1.5707782662051641,0.02626032227248034,0.0],"actuator_force":[0.03513860465500329,-21.892974315520405,-19.52069463871976,-2.4786923886000523,0.000755011006958739,-3.826416494412399e-05,-0.2925040835630519],"issued_joint_targets_rad":[-1.544534514470413,-1.521615358012259,1.2554013083954028,-1.3047361171588105,-1.570781290087665,0.02626179305124583],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.679999999999898,"joint_targets_rad":[-1.544534514470413,-1.521615358012259,1.2554013083954028,-1.3047361171588105,-1.570781290087665,0.02626179305124583],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.699999999999904,"qpos":[-1.54454440798146,-1.527040565255993,1.2835168616878359,-1.3277284572524364,-1.570774361645918,0.026253618460796106,0.0029264118850168236,0.00015597263696760232,0.0031877438318882027,-0.00342119874800163,0.0029264612012910953,0.00015636786284494832,0.003193578926618074,-0.003429605219876682,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,9.43337447269055e-19,5.358482552162509e-17,-6.226795997222724e-08],"qvel":[-2.524870167867897e-05,0.026354927053232176,-0.14256693150524458,0.11556100729961731,-3.455143332397699e-05,4.128622269004592e-05,-5.505576488557366e-06,1.045995717292519e-06,-9.350011627928607e-06,5.180400035877656e-07,-5.4997411147159486e-06,4.5654331435110155e-07,-1.1539136421490445e-05,-9.072739002035731e-08,-7.040436445740223e-17,1.6839471319786157e-18,1.0944878378473055e-14,-2.707126572587366e-16,-4.510888590833882e-16,-2.541947203098946e-08],"joint_position_rad":[-1.54454440798146,-1.527040565255993,1.2835168616878359,-1.3277284572524364,-1.570774361645918,0.026253618460796106],"joint_velocity_rad_s":[-2.524870167867897e-05,0.026354927053232176,-0.14256693150524458,0.11556100729961731,-3.455143332397699e-05,4.128622269004592e-05],"linkage_position_rad":[0.0029264118850168236,0.00015597263696760232,0.0031877438318882027,-0.00342119874800163,0.0029264612012910953,0.00015636786284494832,0.003193578926618074,-0.003429605219876682],"tcp_position_m":[-0.1470613401012434,0.495451158103545,0.42635937900971915],"tcp_quaternion_wxyz":[-0.00017289590905681797,0.7071073619240077,0.7071061636318047,0.00014890864786032385],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,9.43337447269055e-19,5.358482552162509e-17,-6.226795997222724e-08],"object_linear_velocity_m_s":[-7.040436445740223e-17,1.6839471319786157e-18,1.0944878378473055e-14],"object_angular_velocity_rad_s":[-2.707127161596969e-16,-4.510888253219772e-16,-2.54194720309895e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313534571328001,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445332068424065,-1.532740903432579,1.2452060789500228,-1.3095623919748647,-1.570779737794448,0.026261792944423205,0.0],"actuator_force":[0.03250175877883521,-21.942647174465037,-19.59479287352815,-2.4730680911758327,0.0007670690673649005,-4.1380455453321474e-05,-0.2925886277273796],"issued_joint_targets_rad":[-1.5445331659101147,-1.521543733909118,1.2552985674068475,-1.3046908917908806,-1.5707826356796513,0.026263139942137297],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.699999999999904,"joint_targets_rad":[-1.5445331659101147,-1.521543733909118,1.2552985674068475,-1.3046908917908806,-1.5707826356796513,0.026263139942137297],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.719999999999911,"qpos":[-1.5445444346567623,-1.5265333376135544,1.2808024071164006,-1.3255303741437743,-1.5707751527495184,0.02625452482257586,0.0029264077898246525,0.00015600418216368264,0.0031876108372008017,-0.0034213169913608734,0.002926452834253486,0.00015636448709270288,0.0031933168383282014,-0.0034297496774112883,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,3.0548448368403305e-18,4.212610449752779e-17,-6.2469616544412e-08],"qvel":[-1.334504448291302e-05,0.024263357056279748,-0.12931711660492198,0.10474264372003254,-3.7425364617517855e-05,4.3512090350941944e-05,2.1796789984135248e-06,9.866476025957059e-07,-1.5786832930809622e-06,-6.431642268513346e-06,2.164499221574783e-06,3.4505857113498523e-07,-3.966875271198562e-06,-7.046714114968313e-06,-8.870355710164125e-17,3.927396975901358e-17,1.0346745723956251e-14,3.0500590319269828e-15,1.7457717134164606e-15,-1.021783013249215e-07],"joint_position_rad":[-1.5445444346567623,-1.5265333376135544,1.2808024071164006,-1.3255303741437743,-1.5707751527495184,0.02625452482257586],"joint_velocity_rad_s":[-1.334504448291302e-05,0.024263357056279748,-0.12931711660492198,0.10474264372003254,-3.7425364617517855e-05,4.3512090350941944e-05],"linkage_position_rad":[0.0029264077898246525,0.00015600418216368264,0.0031876108372008017,-0.0034213169913608734,0.002926452834253486,0.00015636448709270288,0.0031933168383282014,-0.0034297496774112883],"tcp_position_m":[-0.1470613384332501,0.4954593112755862,0.42719028311950247],"tcp_quaternion_wxyz":[-0.00017594029263707717,0.7071076910903967,0.7071058329823222,0.0001523423671053924],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,3.0548448368403305e-18,4.212610449752779e-17,-6.2469616544412e-08],"object_linear_velocity_m_s":[-8.870355710164125e-17,3.927396975901358e-17,1.0346745723956251e-14],"object_angular_velocity_rad_s":[3.0500592414335956e-15,1.745771332968692e-15,-1.0217830132492169e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.093135386261841,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445320976246755,-1.5326742721888387,1.2451081489615248,-1.3095176536894126,-1.570781085950009,0.026263139992956132,0.0],"actuator_force":[0.0300120819665608,-21.98721197308032,-19.661669667782917,-2.4679041448224552,0.0007759362164279082,-4.3623844959483904e-05,-0.29266475209500686],"issued_joint_targets_rad":[-1.544531932346266,-1.5214837312373681,1.2552118821371967,-1.3046513549982115,-1.5707838667287157,0.026264372347787734],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.719999999999911,"joint_targets_rad":[-1.544531932346266,-1.5214837312373681,1.2552118821371967,-1.3046513549982115,-1.5707838667287157,0.026264372347787734],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.739999999999918,"qpos":[-1.5445442938458835,-1.5260668836733744,1.2783408199493487,-1.3235382256597648,-1.570775986039914,0.026255462983082147,0.002926531765869969,0.00015603270662941217,0.0031876162896767955,-0.0034215450776469564,0.0029265728698745956,0.0001563609535964024,0.003193203738227558,-0.0034300017243205226,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.2632560350718993e-17,3.602670102697008e-17,-6.285704566324362e-08],"qvel":[-3.006271405001938e-06,0.022307516987118137,-0.11726969112494741,0.0949302885442052,-3.949059372518102e-05,4.4998896601813205e-05,7.822597378957469e-06,9.25701856294541e-07,4.1904057944764766e-06,-1.1457282243303821e-05,7.792015321205888e-06,2.560264943543936e-07,1.6941393897787857e-06,-1.2066566699328358e-05,-4.487132583160059e-17,1.3695181251389974e-17,1.0740874897698183e-14,-5.887983707634491e-17,-1.5810388789447453e-15,-1.1057473283150911e-08],"joint_position_rad":[-1.5445442938458835,-1.5260668836733744,1.2783408199493487,-1.3235382256597648,-1.570775986039914,0.026255462983082147],"joint_velocity_rad_s":[-3.006271405001938e-06,0.022307516987118137,-0.11726969112494741,0.0949302885442052,-3.949059372518102e-05,4.4998896601813205e-05],"linkage_position_rad":[0.002926531765869969,0.00015603270662941217,0.0031876162896767955,-0.0034215450776469564,0.0029265728698745956,0.0001563609535964024,0.003193203738227558,-0.0034300017243205226],"tcp_position_m":[-0.14706139979343896,0.49546709096283387,0.4279401714976391],"tcp_quaternion_wxyz":[-0.00017673620128734225,0.7071079728103208,0.7071055507754104,0.0001536717178710689],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.2632560350718993e-17,3.602670102697008e-17,-6.285704566324362e-08],"object_linear_velocity_m_s":[-4.487132583160059e-17,1.3695181251389974e-17,1.0740874897698183e-14],"object_angular_velocity_rad_s":[-5.888003663193911e-17,-1.5810388712633418e-15,-1.1057473283150931e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313541166906401,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5445310596395312,-1.532618982651792,1.2450258660282592,-1.3094785022277315,-1.5707823197126989,0.02626437252072249,0.0],"actuator_force":[0.02767092126669013,-22.027204751682802,-19.72203139220028,-2.4631671384039464,0.0007822229800922287,-4.5120840010071106e-05,-0.292733304850729],"issued_joint_targets_rad":[-1.5804794174735028,-1.5362118389323085,1.287421659100633,-1.3219740495902268,-1.570881015312828,-0.009600480547846606],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.739999999999918,"joint_targets_rad":[-1.5804794174735028,-1.5362118389323085,1.287421659100633,-1.3219740495902268,-1.570881015312828,-0.009600480547846606],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.759999999999924,"qpos":[-1.5457705315762889,-1.5266412509809657,1.2775571488433055,-1.3229275027138006,-1.5706911255057852,0.024860889123341976,0.0029232843833306064,0.0001521383760472844,0.0031798063757157383,-0.0034293983152322133,0.0029231233424365116,0.0001609852616927726,0.003230856287518211,-0.0034041866830774098,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,2.0737918357127986e-17,-1.0561294156927637e-18,-6.321526891728499e-08],"qvel":[-0.12444092875799398,-0.06253124320375716,0.02576610872624179,-0.0008416047257920693,0.004707018136991549,-0.1367789352041658,-0.0006173376136643527,-0.00010724022982473693,-0.0007978555303345368,0.0006401825281579391,-0.0006269944764125895,-0.00010684115662407728,-0.00028585048689138635,0.0015174487414594414,2.0966802125589664e-17,3.3615679511172873e-17,1.084495830625679e-14,1.0304635781923745e-15,-3.976583612983525e-15,-4.4447572933096125e-08],"joint_position_rad":[-1.5457705315762889,-1.5266412509809657,1.2775571488433055,-1.3229275027138006,-1.5706911255057852,0.024860889123341976],"joint_velocity_rad_s":[-0.12444092875799398,-0.06253124320375716,0.02576610872624179,-0.0008416047257920693,0.004707018136991549,-0.1367789352041658],"linkage_position_rad":[0.0029232843833306064,0.0001521383760472844,0.0031798063757157383,-0.0034293983152322133,0.0029231233424365116,0.0001609852616927726,0.003230856287518211,-0.0034041866830774098],"tcp_position_m":[-0.14647083401768712,0.49546291729938713,0.4285419212384932],"tcp_quaternion_wxyz":[-0.0004765032232391125,0.7070483215631246,0.7071649729609059,0.0003807054599739315],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,2.0737918357127986e-17,-1.0561294156927637e-18,-6.321526891728499e-08],"object_linear_velocity_m_s":[2.0966802125589664e-17,3.3615679511172873e-17,1.084495830625679e-14],"object_angular_velocity_rad_s":[1.0304630755246481e-15,-3.976583741422065e-15,-4.4447572933096204e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313241493956766,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5745243347494227,-1.5473376974856812,1.2750287364447523,-1.3268018669594797,-1.5708779722111315,-0.0037356274159415217,0.0],"actuator_force":[-7.7312348430700695,-16.380395727928317,-15.36326828760275,-1.8530216502603025,-0.5641251663723779,-0.6203647492251678,-0.2860987258379712],"issued_joint_targets_rad":[-1.581686478122671,-1.5362509403762874,1.2859969918219996,-1.3205118052754985,-1.570853398585556,-0.010808010259985554],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.759999999999924,"joint_targets_rad":[-1.581686478122671,-1.5362509403762874,1.2859969918219996,-1.3205118052754985,-1.570853398585556,-0.010808010259985554],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.779999999999931,"qpos":[-1.5489924248625329,-1.5277453176384024,1.2782897315675434,-1.3227284828590828,-1.5706672972195808,0.021542997062919886,0.0029202692199876363,0.00015512477274164793,0.0031770663628821407,-0.0034186178786374984,0.002920207143664739,0.0001562183639986759,0.0031918113661745474,-0.0034159804809270177,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.803315050415934e-17,-1.2991949984673352e-17,-6.338380062893396e-08],"qvel":[-0.16560189898077443,-0.04650492132644806,0.037182482550852956,0.0106661650499502,-0.0014284336821037788,-0.16339894180678685,5.4592428124396e-06,0.00015904098191268852,0.0005608908162515896,0.0006266962644715545,2.103466744410664e-05,-0.0001063552126556532,-0.0012872772013928094,-0.001218679965589611,1.1936897325391952e-17,1.9586979880595295e-17,1.0832468297229759e-14,-6.56759275838703e-16,1.5887463425323916e-16,-4.810002161278383e-09],"joint_position_rad":[-1.5489924248625329,-1.5277453176384024,1.2782897315675434,-1.3227284828590828,-1.5706672972195808,0.021542997062919886],"joint_velocity_rad_s":[-0.16560189898077443,-0.04650492132644806,0.037182482550852956,0.0106661650499502,-0.0014284336821037788,-0.16339894180678685],"linkage_position_rad":[0.0029202692199876363,0.00015512477274164793,0.0031770663628821407,-0.0034186178786374984,0.002920207143664739,0.0001562183639986759,0.0031918113661745474,-0.0034159804809270177],"tcp_position_m":[-0.14486979937110142,0.4954716220267471,0.428720800005563],"tcp_quaternion_wxyz":[-0.0005457781917097938,0.7070143280412441,0.70719887890554,0.00043329585775163745],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.803315050415934e-17,-1.2991949984673352e-17,-6.338380062893396e-08],"object_linear_velocity_m_s":[1.1936897325391952e-17,1.9586979880595295e-17,1.0832468297229759e-14],"object_angular_velocity_rad_s":[-6.5675925557356e-16,1.5887471768251514e-16,-4.810002161278391e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931357625904825,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5816786685180046,-1.5473596346494813,1.2758131766283982,-1.3253385385844967,-1.570850369195162,-0.01080801020083019,0.0],"actuator_force":[0.8682722813664441,-20.626665491578933,-19.82610289863169,-2.3716443677020607,0.051307380419757465,0.1643905488036479,-0.29215628773390145],"issued_joint_targets_rad":[-1.5849289103424433,-1.5371013938150757,1.2864326563362218,-1.3200978095310925,-1.5708469765870157,-0.014050634101764953],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.779999999999931,"joint_targets_rad":[-1.5849289103424433,-1.5371013938150757,1.2864326563362218,-1.3200978095310925,-1.5708469765870157,-0.014050634101764953],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.799999999999938,"qpos":[-1.5524084509207414,-1.528661471920916,1.2790581651005517,-1.3224809457131617,-1.5706846087044888,0.018155458593707815,0.0029220195697485987,0.00015633679477981813,0.003182258568984865,-0.003417341955911787,0.002922062326791618,0.00015604514888382907,0.003185396113596757,-0.003427365791474351,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.0781211533403293e-17,-2.4308349560165474e-17,-6.385159442971361e-08],"qvel":[-0.16569487182526102,-0.04297649964481306,0.036816617111480286,0.011926853035837646,-0.0014970286087474768,-0.16266559954350582,9.40570904479281e-05,4.044374032473342e-05,0.00028200359910623095,7.134653113400449e-05,0.00010046143231222948,-2.4872959806732195e-05,-0.00019057714625327082,-0.00036705806546894485,2.7406179643140267e-17,1.4158102841017856e-17,1.0881040554557105e-14,-7.109106918587996e-16,1.3374385778944515e-16,-1.9334699383590312e-08],"joint_position_rad":[-1.5524084509207414,-1.528661471920916,1.2790581651005517,-1.3224809457131617,-1.5706846087044888,0.018155458593707815],"joint_velocity_rad_s":[-0.16569487182526102,-0.04297649964481306,0.036816617111480286,0.011926853035837646,-0.0014970286087474768,-0.16266559954350582],"linkage_position_rad":[0.0029220195697485987,0.00015633679477981813,0.003182258568984865,-0.003417341955911787,0.002922062326791618,0.00015604514888382907,0.003185396113596757,-0.003427365791474351],"tcp_position_m":[-0.1431641010378133,0.49553493112235336,0.4287834759845254],"tcp_quaternion_wxyz":[-0.0005023640695423818,0.7070244313558478,0.7071888260271011,0.0004067415539463255],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.0781211533403293e-17,-2.4308349560165474e-17,-6.385159442971361e-08],"object_linear_velocity_m_s":[2.7406179643140267e-17,1.4158102841017856e-17,1.0881040554557105e-14],"object_angular_velocity_rad_s":[-7.109106738392886e-16,1.3374394899190955e-16,-1.9334699383590346e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313621483662954,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.584921772747585,-1.5481903811820306,1.2762491040912658,-1.324924296001202,-1.570844144149071,-0.01405063421323094,0.0],"actuator_force":[1.2513050764173386,-21.86721866430389,-20.344768863164063,-2.41436044760394,0.06993513858355982,0.16351355088120378,-0.2931766874408116],"issued_joint_targets_rad":[-1.588380527940611,-1.5379454692036627,1.2871440430432817,-1.3199656611284196,-1.5708506798911879,-0.017502091733907186],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.799999999999938,"joint_targets_rad":[-1.588380527940611,-1.5379454692036627,1.2871440430432817,-1.3199656611284196,-1.5708506798911879,-0.017502091733907186],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.819999999999944,"qpos":[-1.5558288988217908,-1.5295508413747203,1.2798286232330673,-1.3222403153709275,-1.5707006720970247,0.01476469165032598,0.0029240542935178005,0.00015648784680381456,0.003184524466882768,-0.0034195279009031684,0.002924105912467343,0.00015606856627730707,0.0031867563514184584,-0.003429888289618875,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.1394554175627196e-17,-3.9058198757479136e-19,-6.410499357703166e-08],"qvel":[-0.16591909201825059,-0.042425406254890344,0.03665811465570495,0.011429630237279496,-0.0014408444037492553,-0.16297207155714555,8.344544835006576e-05,2.3761956502431196e-05,0.00023366880275019956,8.335999946901467e-05,8.825941710616899e-05,-3.0251276298184722e-05,-0.00012433276314224452,-0.00024454288816243443,-6.764259584450268e-17,3.7752848116856314e-17,1.0850509421379912e-14,2.1011862869262244e-15,7.808135512895711e-15,-7.771942459053025e-08],"joint_position_rad":[-1.5558288988217908,-1.5295508413747203,1.2798286232330673,-1.3222403153709275,-1.5707006720970247,0.01476469165032598],"joint_velocity_rad_s":[-0.16591909201825059,-0.042425406254890344,0.03665811465570495,0.011429630237279496,-0.0014408444037492553,-0.16297207155714555],"linkage_position_rad":[0.0029240542935178005,0.00015648784680381456,0.003184524466882768,-0.0034195279009031684,0.002924105912467343,0.00015606856627730707,0.0031867563514184584,-0.003429888289618875],"tcp_position_m":[-0.14145791645494102,0.4956015339416827,0.4288321870614803],"tcp_quaternion_wxyz":[-0.0004517126112685995,0.7070349587094332,0.7071783543532756,0.00037182342466152797],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.1394554175627196e-17,-3.9058198757479136e-19,-6.410499357703166e-08],"object_linear_velocity_m_s":[-6.764259584450268e-17,3.7752848116856314e-17,1.0850509421379912e-14],"object_angular_velocity_rad_s":[2.1011872880678767e-15,7.808135245273751e-15,-7.77194245905304e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931360928988011,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588373500260804,-1.5490153068358539,1.2769608397549992,-1.3247917424324451,-1.570847935745725,-0.017502092031898554,0.0],"actuator_force":[1.2784339292738878,-21.958768420311117,-20.39881281841872,-2.4186765544867512,0.07045261602479513,0.1638153146022887,-0.29326653462653834],"issued_joint_targets_rad":[-1.5918346552039462,-1.5387765509155944,1.2878753622309018,-1.3198662635449352,-1.5708551960669583,-0.02095606226324795],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.819999999999944,"joint_targets_rad":[-1.5918346552039462,-1.5387765509155944,1.2878753622309018,-1.3198662635449352,-1.5708551960669583,-0.02095606226324795],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.839999999999951,"qpos":[-1.5592530230015424,-1.5304327651453544,1.2805960616781193,-1.322012795544938,-1.5707156819459782,0.011367901806472314,0.0029257694525811387,0.00015649818755124535,0.003186241730047589,-0.0034211808123298143,0.002925821957082865,0.00015606878991412056,0.0031884027408489502,-0.0034315303972293006,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.4574325774984746e-17,2.5057591063017557e-17,-6.439968205584532e-08],"qvel":[-0.16607745071408608,-0.04213238801848859,0.03648989655094204,0.010785061468463562,-0.0013887634534597842,-0.16326087459551325,6.712760926908912e-05,2.1987118401739322e-05,0.00021543334832146922,0.00010376371559944697,7.191140962467722e-05,-3.0103673345918858e-05,-0.00013199726580653682,-0.00022742619026012138,-2.535879352236693e-17,1.7648064251583418e-17,1.0756140464286778e-14,-5.132303580753247e-16,-2.233511113186163e-16,-8.41059647545797e-09],"joint_position_rad":[-1.5592530230015424,-1.5304327651453544,1.2805960616781193,-1.322012795544938,-1.5707156819459782,0.011367901806472314],"joint_velocity_rad_s":[-0.16607745071408608,-0.04213238801848859,0.03648989655094204,0.010785061468463562,-0.0013887634534597842,-0.16326087459551325],"linkage_position_rad":[0.0029257694525811387,0.00015649818755124535,0.003186241730047589,-0.0034211808123298143,0.002925821957082865,0.00015606878991412056,0.0031884027408489502,-0.0034315303972293006],"tcp_position_m":[-0.1397514654402727,0.49566856830783074,0.4288796267426801],"tcp_quaternion_wxyz":[-0.00040477735612078205,0.7070446508805824,0.7071687088258028,0.0003392257259758583],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.4574325774984746e-17,2.5057591063017557e-17,-6.439968205584532e-08],"object_linear_velocity_m_s":[-2.535879352236693e-17,1.7648064251583418e-17,1.0756140464286778e-14],"object_angular_velocity_rad_s":[-5.132303872643012e-16,-2.233510449697136e-16,-8.410596475457987e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313594209008219,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5918276902450492,-1.549827395689902,1.2776925032661532,-1.3246919648245004,-1.5708525275345913,-0.020956062731529276,0.0],"actuator_force":[1.281645798620957,-21.93630588169981,-20.403075444309252,-2.4180907866275447,0.07045355103957718,0.1641051905505293,-0.29327476557766907],"issued_joint_targets_rad":[-1.5952913014804464,-1.5395939749954237,1.2885948136293854,-1.3197686830237945,-1.570859401005661,-0.02441256194470391],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.839999999999951,"joint_targets_rad":[-1.5952913014804464,-1.5395939749954237,1.2885948136293854,-1.3197686830237945,-1.570859401005661,-0.02441256194470391],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.859999999999958,"qpos":[-1.5626802524401617,-1.531308460425736,1.2813590027035946,-1.3217976895091035,-1.5707296654221665,0.007965423686748043,0.0029271802282032112,0.00015649800475759607,0.003187645864054047,-0.0034225195775992785,0.0029272329085184567,0.00015606850303630544,0.0031898038543923188,-0.0034328721346615467,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,3.567954351756965e-18,1.686813357342365e-17,-6.482278076390636e-08],"qvel":[-0.16622612520100596,-0.04183119308561818,0.03627174104138355,0.010189206486722885,-0.0013394600872853955,-0.163533728988884,5.3013412932667174e-05,2.1886624845778346e-05,0.00020194574565656764,0.00011740048061972264,5.7803252351488286e-05,-3.0114489733032322e-05,-0.0001444924223236316,-0.00021336266926678962,-2.2348829246592334e-17,1.9279875591097837e-18,1.0745038234040525e-14,-7.400429082547637e-16,-1.0693534833249082e-15,-3.380795871544117e-08],"joint_position_rad":[-1.5626802524401617,-1.531308460425736,1.2813590027035946,-1.3217976895091035,-1.5707296654221665,0.007965423686748043],"joint_velocity_rad_s":[-0.16622612520100596,-0.04183119308561818,0.03627174104138355,0.010189206486722885,-0.0013394600872853955,-0.163533728988884],"linkage_position_rad":[0.0029271802282032112,0.00015649800475759607,0.003187645864054047,-0.0034225195775992785,0.0029272329085184567,0.00015606850303630544,0.0031898038543923188,-0.0034328721346615467],"tcp_position_m":[-0.13804498200712925,0.49573568337222196,0.4289270470734382],"tcp_quaternion_wxyz":[-0.0003622359893013826,0.7070534246255771,0.707159973131575,0.0003096948186885757],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,3.567954351756965e-18,1.686813357342365e-17,-6.482278076390636e-08],"object_linear_velocity_m_s":[-2.2348829246592334e-17,1.9279875591097837e-18,1.0745038234040525e-14],"object_angular_velocity_rad_s":[-7.400430480322462e-16,-1.0693533871403722e-15,-3.380795871544124e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313581394465774,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.595284398741147,-1.5506259691663031,1.278412286296169,-1.3245940401285192,-1.570856804424903,-0.02441256256721369,0.0],"actuator_force":[1.2821574784315999,-21.90254024688693,-20.402129231404615,-2.417095958380173,0.07037650736037904,0.16437977190753195,-0.29327474016250416],"issued_joint_targets_rad":[-1.5987498832127607,-1.5403976576037723,1.2892992383485615,-1.319669855229142,-1.5708632168493288,-0.02787100755685641],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.859999999999958,"joint_targets_rad":[-1.5987498832127607,-1.5403976576037723,1.2892992383485615,-1.319669855229142,-1.5708632168493288,-0.02787100755685641],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.879999999999964,"qpos":[-1.566110441523916,-1.5321773862466603,1.282116374226426,-1.3215937282965984,-1.5707426800328637,0.004557607879508096,0.002928336718764487,0.00015649739839743705,0.003188797934848812,-0.0034236166799918705,0.0029283893395132296,0.00015606747523752072,0.0031909564981536607,-0.0034339677738025867,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,9.424867089519703e-19,7.75055789983526e-18,-6.495097028638598e-08],"qvel":[-0.16636909910992004,-0.04149734106985647,0.03600470169107773,0.009655413617134876,-0.0012929945312200072,-0.16378945271530207,4.133309426740811e-05,2.1839926284679007e-05,0.00019088210861329156,0.00012872489248296883,4.6154982571199316e-05,-3.00456607654596e-05,-0.00015503312158316466,-0.00020191843389441152,-1.2039503986245114e-17,1.0771790008794472e-18,1.0792222712587096e-14,-8.960135266328454e-17,-4.853820813916013e-16,-3.658610442789702e-09],"joint_position_rad":[-1.566110441523916,-1.5321773862466603,1.282116374226426,-1.3215937282965984,-1.5707426800328637,0.004557607879508096],"joint_velocity_rad_s":[-0.16636909910992004,-0.04149734106985647,0.03600470169107773,0.009655413617134876,-0.0012929945312200072,-0.16378945271530207],"linkage_position_rad":[0.002928336718764487,0.00015649739839743705,0.003188797934848812,-0.0034236166799918705,0.0029283893395132296,0.00015606747523752072,0.0031909564981536607,-0.0034339677738025867],"tcp_position_m":[-0.1363384864185826,0.4958028461840919,0.42897457309391485],"tcp_quaternion_wxyz":[-0.000323773562339937,0.7070613533029243,0.7071520753893822,0.00028303463777798634],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,9.424867089519703e-19,7.75055789983526e-18,-6.495097028638598e-08],"object_linear_velocity_m_s":[-1.2039503986245114e-17,1.0771790008794472e-18,1.0792222712587096e-14],"object_angular_velocity_rad_s":[-8.96014157720708e-17,-4.853820697453121e-16,-3.6586104427897096e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313570833038211,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5987430467259283,-1.5514109542980177,1.279117030671526,-1.324494901992863,-1.5708606896339528,-0.02787100831888336,0.0],"actuator_force":[1.2824292399436672,-21.868199674772313,-20.400567786231477,-2.4161282098457377,0.07029465257755874,0.16463717233447994,-0.29327374329807887],"issued_joint_targets_rad":[-1.6022102722005258,-1.5411875633483074,1.289988324503719,-1.3195695002015533,-1.5708666682793366,-0.031331270076467854],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.879999999999964,"joint_targets_rad":[-1.6022102722005258,-1.5411875633483074,1.289988324503719,-1.3195695002015533,-1.5708666682793366,-0.031331270076467854],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.899999999999971,"qpos":[-1.5695434799905619,-1.5330388815039653,1.2828672367099332,-1.3213997017957593,-1.5707547831353406,0.0011447900720199249,0.002929284206635926,0.0001564967511529809,0.0031897424879440937,-0.0034245150296608,0.002929336775976273,0.00015606657720386926,0.003191902443528556,-0.0034348643822248556,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,1.9055660796545282e-18,2.460692152493155e-18,-6.540708982892748e-08],"qvel":[-0.16650689003557867,-0.041131283255213875,0.035693125906580365,0.009179433029678887,-0.0012492716428532942,-0.16402908894281515,3.173296089746136e-05,2.1798531447966828e-05,0.00018187794642216326,0.00013806280947947793,3.659013150741658e-05,-2.9960630882861554e-05,-0.00016353200822590109,-0.00019251991953648414,-4.058212357045055e-18,3.626939286904375e-18,1.083940719113367e-14,6.761263222582901e-17,-7.449437230428337e-17,-1.4706465964291388e-08],"joint_position_rad":[-1.5695434799905619,-1.5330388815039653,1.2828672367099332,-1.3213997017957593,-1.5707547831353406,0.0011447900720199249],"joint_velocity_rad_s":[-0.16650689003557867,-0.041131283255213875,0.035693125906580365,0.009179433029678887,-0.0012492716428532942,-0.16402908894281515],"linkage_position_rad":[0.002929284206635926,0.0001564967511529809,0.0031897424879440937,-0.0034245150296608,0.002929336775976273,0.00015606657720386926,0.003191902443528556,-0.0034348643822248556],"tcp_position_m":[-0.13463198158006695,0.49587005487936403,0.4290222133995685],"tcp_quaternion_wxyz":[-0.00028900944356281724,0.7070685173977863,0.7071449364235834,0.00025897668508465953],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,1.9055660796545282e-18,2.460692152493155e-18,-6.540708982892748e-08],"object_linear_velocity_m_s":[-4.058212357045055e-18,3.626939286904375e-18,1.083940719113367e-14],"object_angular_velocity_rad_s":[6.76126224085322e-17,-7.449438109292561e-17,-1.4706465964291418e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313562156786671,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6022035060735413,-1.5521823283542482,1.27980642594258,-1.324394267338526,-1.5708642080712008,-0.03133127096468644,0.0],"actuator_force":[1.2827038482723765,-21.834380398480334,-20.398871897338267,-2.415226074351267,0.070214696355265,0.16487837592833188,-0.29327266459263435],"issued_joint_targets_rad":[-1.605672371772107,-1.541963663712191,1.290662068379828,-1.3194676380035888,-1.570869788074121,-0.034793252013104285],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.899999999999971,"joint_targets_rad":[-1.605672371772107,-1.541963663712191,1.290662068379828,-1.3194676380035888,-1.570869788074121,-0.034793252013104285],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.919999999999978,"qpos":[-1.5729792623932661,-1.5338923292336368,1.2836107459916943,-1.3212145140604064,-1.5707660300935995,-0.0022727164391509527,0.0029300603591515466,0.00015649612027169766,0.0031905169075730788,-0.003425250588460943,0.002930112899969677,0.00015606588834813685,0.003192678841426396,-0.0034355981820584705,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999989,8.006373107060788e-18,-1.8519319962420293e-17,-6.575089283122195e-08],"qvel":[-0.16663959294304065,-0.04073575403295988,0.03534136223560336,0.00875567620224288,-0.001208184819186804,-0.16425372762751642,2.384635978020139e-05,2.1757122798443403e-05,0.000174574401330874,0.00014576772496955917,2.8738451141948023e-05,-2.9875176740895683e-05,-0.00017033206390866607,-0.00018475108269545707,5.606913817224084e-17,1.0878783866697037e-17,1.0817202730641169e-14,1.3018181857868797e-15,-3.996979151659317e-15,-5.911537851347573e-08],"joint_position_rad":[-1.5729792623932661,-1.5338923292336368,1.2836107459916943,-1.3212145140604064,-1.5707660300935995,-0.0022727164391509527],"joint_velocity_rad_s":[-0.16663959294304065,-0.04073575403295988,0.03534136223560336,0.00875567620224288,-0.001208184819186804,-0.16425372762751642],"linkage_position_rad":[0.0029300603591515466,0.00015649612027169766,0.0031905169075730788,-0.003425250588460943,0.002930112899969677,0.00015606588834813685,0.003192678841426396,-0.0034355981820584705],"tcp_position_m":[-0.1329254682544892,0.4959373107143351,0.4290699651617345],"tcp_quaternion_wxyz":[-0.00025758977649513,0.7070749910443814,0.7071384831773968,0.00023726918319891643],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999989,8.006373107060788e-18,-1.8519319962420293e-17,-6.575089283122195e-08],"object_linear_velocity_m_s":[5.606913817224084e-17,1.0878783866697037e-17,1.0817202730641169e-14],"object_angular_velocity_rad_s":[1.3018176623665288e-15,-3.996979321904107e-15,-5.911537851347585e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313555028619006,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6056656797690978,-1.5529400745933841,1.2804804697657466,-1.3242921532781022,-1.570867392654571,-0.03479325301545982,0.0],"actuator_force":[1.283002425552695,-21.80118910631063,-20.39709734613689,-2.41438722907219,0.07013720143288538,0.16510447459720723,-0.2932715870106719],"issued_joint_targets_rad":[-1.609136088049376,-1.5427259312583546,1.291320495783134,-1.3193643175016174,-1.5708726070445167,-0.03825685875744534],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.919999999999978,"joint_targets_rad":[-1.609136088049376,-1.5427259312583546,1.291320495783134,-1.3193643175016174,-1.5708726070445167,-0.03825685875744534],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.939999999999984,"qpos":[-1.576417684518506,-1.5347371679685027,1.2843461415994184,-1.3210371784502384,-1.57077647397334,-0.005694619279165676,0.0029306960943763635,0.00015649550302545024,0.0031911519194130324,-0.003425852747613221,0.0029307486272274457,0.0001560653880245832,0.0031933163480348903,-0.003436198551797913,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,1.2850253061334359e-17,-2.5301834658475498e-17,-6.597504041157793e-08],"qvel":[-0.1667672542629647,-0.04031346205517553,0.034953377555092854,0.008378920279056125,-0.0011696225130621025,-0.1644643676671742,1.7364811642269915e-05,2.1714689565665147e-05,0.00016866474492938885,0.00015213634621108317,2.229151531584239e-05,-2.978999732644346e-05,-0.0001757366670770018,-0.00017831665520849022,2.908357824376125e-17,1.091685145971811e-17,1.1501377669566423e-14,-4.6373311855304316e-17,5.799258394272585e-16,-6.397314401004655e-09],"joint_position_rad":[-1.576417684518506,-1.5347371679685027,1.2843461415994184,-1.3210371784502384,-1.57077647397334,-0.005694619279165676],"joint_velocity_rad_s":[-0.1667672542629647,-0.04031346205517553,0.034953377555092854,0.008378920279056125,-0.0011696225130621025,-0.1644643676671742],"linkage_position_rad":[0.0029306960943763635,0.00015649550302545024,0.0031911519194130324,-0.003425852747613221,0.0029307486272274457,0.0001560653880245832,0.0031933163480348903,-0.003436198551797913],"tcp_position_m":[-0.13121894689356467,0.496004615164294,0.4291178247490549],"tcp_quaternion_wxyz":[-0.00022919366877019562,0.707080841298772,0.707132649474079,0.00021768383477831847],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,1.2850253061334359e-17,-2.5301834658475498e-17,-6.597504041157793e-08],"object_linear_velocity_m_s":[2.908357824376125e-17,1.091685145971811e-17,1.1501377669566423e-14],"object_angular_velocity_rad_s":[-4.6373235010314935e-17,5.799258457106299e-16,-6.397314401004654e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931354916855367,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6091294735818293,-1.553684176305798,1.2811391891868675,-1.3241886059979409,-1.5708702743226757,-0.03825685986303518,0.0],"actuator_force":[1.283323578539239,-21.76863185252023,-20.395255847138742,-2.4136058017568303,0.07006207663835085,0.1653164747826672,-0.293270517714981],"issued_joint_targets_rad":[-1.612601328298259,-1.5434743394914963,1.2919636335011575,-1.3192595881356546,-1.5708751532390384,-0.041721996925989505],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.939999999999984,"joint_targets_rad":[-1.612601328298259,-1.5434743394914963,1.2919636335011575,-1.3192595881356546,-1.5708751532390384,-0.041721996925989505],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.959999999999991,"qpos":[-1.5798586430252324,-1.53557288801794,1.2850727383075453,-1.3208668075527594,-1.570786165459006,-0.009120645130350963,0.002931216755005516,0.0001564948913698224,0.003191672710028194,-0.0034263455774091035,0.0029312692986622067,0.0001560650535237496,0.0031938401051548135,-0.0034366895640594386,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,2.1572059435688093e-17,-3.168081508874013e-17,-6.639745418893773e-08],"qvel":[-0.16688991711081763,-0.03986688122201025,0.034532754088745746,0.008044436306193774,-0.0011334705633007163,-0.16466191790063728,1.203488244804943e-05,2.1671195063674807e-05,0.00016389674894677425,0.0001574095194680378,1.6995945310182104e-05,-2.9704952074662234e-05,-0.00017999706949376918,-0.0001729757574994029,4.173855842946839e-17,2.791022449242478e-17,1.1652645556671602e-14,2.4570979650664107e-18,2.639714439805794e-16,-2.571519651310337e-08],"joint_position_rad":[-1.5798586430252324,-1.53557288801794,1.2850727383075453,-1.3208668075527594,-1.570786165459006,-0.009120645130350963],"joint_velocity_rad_s":[-0.16688991711081763,-0.03986688122201025,0.034532754088745746,0.008044436306193774,-0.0011334705633007163,-0.16466191790063728],"linkage_position_rad":[0.002931216755005516,0.0001564948913698224,0.003191672710028194,-0.0034263455774091035,0.0029312692986622067,0.0001560650535237496,0.0031938401051548135,-0.0034366895640594386],"tcp_position_m":[-0.12951241784558742,0.49607196963414235,0.4291657887868283],"tcp_quaternion_wxyz":[-0.00020353091808763486,0.7070861286911903,0.707127375500278,0.0002000143974367729],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,2.1572059435688093e-17,-3.168081508874013e-17,-6.639745418893773e-08],"object_linear_velocity_m_s":[4.173855842946839e-17,2.791022449242478e-17,1.1652645556671602e-14],"object_angular_velocity_rad_s":[2.4571346484869515e-18,2.639714447637464e-16,-2.571519651310337e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313544346873456,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6125947944535814,-1.5544146167515394,1.2817826121063927,-1.3240836725137486,-1.5708728812472819,-0.04172199812495407,0.0],"actuator_force":[1.2836639876286426,-21.736704978394755,-20.39335403780342,-2.412876111113974,0.06998916219220064,0.16551529276217636,-0.29326945682217737],"issued_joint_targets_rad":[-1.616068000563079,-1.5442088628546098,1.2925915070400964,-1.319153497612825,-1.5708774521105793,-0.0451885739866468],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.959999999999991,"joint_targets_rad":[-1.616068000563079,-1.5442088628546098,1.2925915070400964,-1.319153497612825,-1.5708774521105793,-0.0451885739866468],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.979999999999998,"qpos":[-1.583302035426713,-1.5363990266934147,1.2857899187690103,-1.3207026035450309,-1.5707951528287596,-0.012550537992324994,0.0029316431106912533,0.00015649427871714333,0.0031920999189322527,-0.003426748804519456,0.0029316956822481783,0.00015606486469765395,0.0031942707126369906,-0.0034370909467727998,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,1.8605574125362998e-17,-3.168126932360198e-17,-6.660145678881741e-08],"qvel":[-0.16700762472760936,-0.03939825200923286,0.03408272505996059,0.0077479559224536455,-0.0010996137859701914,-0.16484720399880012,7.648795716300076e-06,2.1626652030918813e-05,0.00016006351670388308,0.00016178454894128183,1.2644014882555145e-05,-2.961985258764247e-05,-0.00018331940515882604,-0.00016853097539051295,1.4029790258129213e-16,5.0202115688932347e-17,1.1701217813998952e-14,1.3117168104911514e-15,-7.962331472195354e-15,-1.0336702094924467e-07],"joint_position_rad":[-1.583302035426713,-1.5363990266934147,1.2857899187690103,-1.3207026035450309,-1.5707951528287596,-0.012550537992324994],"joint_velocity_rad_s":[-0.16700762472760936,-0.03939825200923286,0.03408272505996059,0.0077479559224536455,-0.0010996137859701914,-0.16484720399880012],"linkage_position_rad":[0.0029316431106912533,0.00015649427871714333,0.0031920999189322527,-0.003426748804519456,0.0029316956822481783,0.00015606486469765395,0.0031942707126369906,-0.0034370909467727998],"tcp_position_m":[-0.1278058813806361,0.4961393754372295,0.4292138542366405],"tcp_quaternion_wxyz":[-0.00018033915969951157,0.7070909078521218,0.7071226072097946,0.00018407463498613987],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,1.8605574125362998e-17,-3.168126932360198e-17,-6.660145678881741e-08],"object_linear_velocity_m_s":[1.4029790258129213e-16,5.0202115688932347e-17,1.1701217813998952e-14],"object_angular_velocity_rad_s":[1.311715756434986e-15,-7.962331643073378e-15,-1.0336702094924467e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313540375367464,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6160615501343265,-1.5551313792463572,1.2824107650282957,-1.3239773983409635,-1.5708752390003393,-0.04518857527007055,0.0],"actuator_force":[1.2840204758167602,-21.70540430219171,-20.39139750541335,-2.412192990211679,0.06991829280730144,0.16570176100723444,-0.2932684036999659],"issued_joint_targets_rad":[-1.6195360135272545,-1.5449294766324113,1.2932041404524648,-1.31904609177454,-1.5708795267422,-0.04865649811114042],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.979999999999998,"joint_targets_rad":[-1.6195360135272545,-1.5449294766324113,1.2932041404524648,-1.31904609177454,-1.5708795267422,-0.04865649811114042],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.000000000000004,"qpos":[-1.5867477600908537,-1.537215163842402,1.2864971268879006,-1.3205438494351862,-1.5708034819568109,-0.015984057591568266,0.0029319921828218935,0.0001564936599892728,0.003192450457992751,-0.0034270785961689663,0.002932044797845849,0.00015606480417808366,0.0031946250466007337,-0.0034374188682288567,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,1.7454345236739394e-17,-4.884630523081349e-17,-6.699339317181977e-08],"qvel":[-0.16712042020713405,-0.038909601468218334,0.033606208194529245,0.007485628199814683,-0.0010679371634597457,-0.16502097575171693,4.03625613593486e-06,2.158106670140694e-05,0.00015699545093313664,0.0001654231406380671,9.065476666340448e-06,-2.953452431938372e-05,-0.00018587257077673521,-0.00016482053222620585,5.703645237543218e-17,2.2569198384515053e-17,1.1708156707902861e-14,-4.484434254124005e-16,1.2396781744040793e-15,-1.1186113467189164e-08],"joint_position_rad":[-1.5867477600908537,-1.537215163842402,1.2864971268879006,-1.3205438494351862,-1.5708034819568109,-0.015984057591568266],"joint_velocity_rad_s":[-0.16712042020713405,-0.038909601468218334,0.033606208194529245,0.007485628199814683,-0.0010679371634597457,-0.16502097575171693],"linkage_position_rad":[0.0029319921828218935,0.0001564936599892728,0.003192450457992751,-0.0034270785961689663,0.002932044797845849,0.00015606480417808366,0.0031946250466007337,-0.0034374188682288567],"tcp_position_m":[-0.1260993376995744,0.4962068338008542,0.42926201837630196],"tcp_quaternion_wxyz":[-0.0001593812047155049,0.7070952280890129,0.7071182957713046,0.00016969638701010983],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,1.7454345236739394e-17,-4.884630523081349e-17,-6.699339317181977e-08],"object_linear_velocity_m_s":[5.703645237543218e-17,2.2569198384515053e-17,1.1708156707902861e-14],"object_angular_velocity_rad_s":[-4.484432582191013e-16,1.239678234880054e-15,-1.1186113467189164e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313537099866129,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6195296490405444,-1.5558344471484191,1.283023672898807,-1.3238698273399334,-1.5708773707795047,-0.04865649947096216,0.0],"actuator_force":[1.2843901834721692,-21.674726024746633,-20.389391255998817,-2.411551772354983,0.06984930499902475,0.16587663547474563,-0.29326735769739853],"issued_joint_targets_rad":[-1.6230052764372351,-1.5456361568772226,1.293801556371574,-1.3189374146544772,-1.5708813980606529,-0.052125678091461666],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.000000000000004,"joint_targets_rad":[-1.6230052764372351,-1.5456361568772226,1.293801556371574,-1.3189374146544772,-1.5708813980606529,-0.052125678091461666],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.020000000000011,"qpos":[-1.5901957162335254,-1.5380209177931408,1.2871938618341485,-1.3203899011454783,-1.5708111963362472,-0.01942097793454551,0.002932277920904522,0.00015649303135148088,0.003192738184254197,-0.0034273482025130903,0.0029323305935837693,0.0001560648570360273,0.003194916931896385,-0.0034376865796224457,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,6.05085042241136e-18,-3.7456106432810966e-17,-6.735578391549889e-08],"qvel":[-0.1672283461018223,-0.03840276337628615,0.03310583610864843,0.007253979424439602,-0.0010383268128569803,-0.16518391395470722,1.0576938999435922e-06,2.1534437356360503e-05,0.00015455354673501328,0.00016845782633380667,6.120804681522705e-06,-2.9448815515430962e-05,-0.00018779493448648694,-0.00016171183182746228,5.1763652697656154e-17,9.567804185813731e-19,1.1710932265464423e-14,-1.2748214288958868e-15,1.0560709756275004e-15,-4.4964666107623634e-08],"joint_position_rad":[-1.5901957162335254,-1.5380209177931408,1.2871938618341485,-1.3203899011454783,-1.5708111963362472,-0.01942097793454551],"joint_velocity_rad_s":[-0.1672283461018223,-0.03840276337628615,0.03310583610864843,0.007253979424439602,-0.0010383268128569803,-0.16518391395470722],"linkage_position_rad":[0.002932277920904522,0.00015649303135148088,0.003192738184254197,-0.0034273482025130903,0.0029323305935837693,0.0001560648570360273,0.003194916931896385,-0.0034376865796224457],"tcp_position_m":[-0.1243927869410546,0.49627434587386476,0.42931027877285877],"tcp_quaternion_wxyz":[-0.0001404426251137957,0.7070991339071879,0.7071143970673803,0.0001567278167463985],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,6.05085042241136e-18,-3.7456106432810966e-17,-6.735578391549889e-08],"object_linear_velocity_m_s":[5.1763652697656154e-17,9.567804185813731e-19,1.1710932265464423e-14],"object_angular_velocity_rad_s":[-1.2748212832624958e-15,1.0560711479048332e-15,-4.4964666107623634e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313534394094071,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6229990001766628,-1.5565238038598244,1.2836213591510246,-1.3237610017538333,-1.5708792976214234,-0.05212567952039323,0.0],"actuator_force":[1.2847705544540986,-21.644666782852255,-20.3873398097071,-2.4109482466213876,0.06978203869755362,0.16604060254686104,-0.29326631821732185],"issued_joint_targets_rad":[-1.6264756990372664,-1.5463288803527853,1.2943837761020593,-1.3188275085801462,-1.5708830850333662,-0.055596023268006965],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.020000000000011,"joint_targets_rad":[-1.6264756990372664,-1.5463288803527853,1.2943837761020593,-1.3188275085801462,-1.5708830850333662,-0.055596023268006965],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.040000000000018,"qpos":[-1.5936458039044994,-1.5388159416862566,1.2878796726387969,-1.3202401803632176,-1.5708183371186395,-0.02286108599246712,0.002932511756920215,0.0001564923899594541,0.0031929744514715124,-0.0034275684830027517,0.0029325645001999374,0.00015606501041502883,0.003195157693285486,-0.0034379049413942077,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,2.104454133690713e-18,-2.427959069079677e-17,-6.752627628758517e-08],"qvel":[-0.1673314440789943,-0.03787939672685396,0.032583983959028284,0.007049876496985377,-0.0010106707807991894,-0.16533663668861165,-1.401278871225728e-06,2.148675608460003e-05,0.0001526238735700485,0.0001709972286268505,3.695650913959085e-06,-2.9362594937293496e-05,-0.00018919984910080613,-0.00015909619407764754,3.0524784742243935e-17,2.281983095640769e-18,1.171509560180677e-14,-2.0061613124168087e-16,1.2758770361679396e-15,-4.86596065626188e-09],"joint_position_rad":[-1.5936458039044994,-1.5388159416862566,1.2878796726387969,-1.3202401803632176,-1.5708183371186395,-0.02286108599246712],"joint_velocity_rad_s":[-0.1673314440789943,-0.03787939672685396,0.032583983959028284,0.007049876496985377,-0.0010106707807991894,-0.16533663668861165],"linkage_position_rad":[0.002932511756920215,0.0001564923899594541,0.0031929744514715124,-0.0034275684830027517,0.0029325645001999374,0.00015606501041502883,0.003195157693285486,-0.0034379049413942077],"tcp_position_m":[-0.1226862291876699,0.4963419127338168,0.42935863325733303],"tcp_quaternion_wxyz":[-0.00012332956975554934,0.7071026654795088,0.7071108712411082,0.00014503182797225437],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,2.104454133690713e-18,-2.427959069079677e-17,-6.752627628758517e-08],"object_linear_velocity_m_s":[3.0524784742243935e-17,2.281983095640769e-18,1.171509560180677e-14],"object_angular_velocity_rad_s":[-2.006159586949415e-16,1.2758770632821292e-15,-4.865960656261881e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313532154629556,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.626469513067511,-1.557199432838849,1.2842038458046314,-1.3236509622920378,-1.5708810385985468,-0.05559602475945962,0.0],"actuator_force":[1.2851593055743251,-21.61522361444304,-20.385247251942474,-2.4103786141085948,0.06971633812622713,0.16619428536491299,-0.29326528471622126],"issued_joint_targets_rad":[-1.6299471915105903,-1.547007624484816,1.2949508197079602,-1.3187164142703491,-1.5708846048483236,-0.05906744346493586],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.040000000000018,"joint_targets_rad":[-1.6299471915105903,-1.547007624484816,1.2949508197079602,-1.3187164142703491,-1.5708846048483236,-0.05906744346493586],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.0600000000000245,"qpos":[-1.5970979239671932,-1.5395999201577355,1.288554153313877,-1.320094168085932,-1.5708249431671544,-0.026304180505826145,0.002932703059643838,0.00015649173375175288,0.003193168562099544,-0.003427748337759645,0.002932755885348428,0.0001560652532188389,0.0031953566071166607,-0.0034380828546023492,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-1.0870079797671469e-17,-1.4620946193990734e-17,-6.794314325070229e-08],"qvel":[-0.16742975464487325,-0.03734100247491407,0.032042794432639264,0.006870493854957605,-0.000984859683233283,-0.16547970503154144,-3.4344118479826052e-06,2.143801045259609e-05,0.00015111305170522314,0.00017313037495209643,1.696301938972559e-06,-2.9275748886889252e-05,-0.0001901801708443029,-0.00015688453963795372,1.917950963238679e-17,-1.250444264551764e-17,1.1771994531818808e-14,-2.0932105483013695e-16,7.304648423914306e-16,-1.9559634974508213e-08],"joint_position_rad":[-1.5970979239671932,-1.5395999201577355,1.288554153313877,-1.320094168085932,-1.5708249431671544,-0.026304180505826145],"joint_velocity_rad_s":[-0.16742975464487325,-0.03734100247491407,0.032042794432639264,0.006870493854957605,-0.000984859683233283,-0.16547970503154144],"linkage_position_rad":[0.002932703059643838,0.00015649173375175288,0.003193168562099544,-0.003427748337759645,0.002932755885348428,0.0001560652532188389,0.0031953566071166607,-0.0034380828546023492],"tcp_position_m":[-0.12097966447148838,0.49640953539351024,0.4294070799016621],"tcp_quaternion_wxyz":[-0.00010786678991746068,0.7071058590697695,0.7071076822859733,0.00013448463522640274],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-1.0870079797671469e-17,-1.4620946193990734e-17,-6.794314325070229e-08],"object_linear_velocity_m_s":[1.917950963238679e-17,-1.250444264551764e-17,1.1771994531818808e-14],"object_angular_velocity_rad_s":[-2.0932095499801948e-16,7.304648704100552e-16,-1.9559634974508216e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313530296773942,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6299410976974158,-1.557861317612395,1.2847711535622965,-1.3235397482111053,-1.570882610998919,-0.059067445012953634,0.0],"actuator_force":[1.2855543975038017,-21.586393919353213,-20.383117276216126,-2.4098394480824936,0.0696520524410289,0.16633824959039956,-0.2932642567000682],"issued_joint_targets_rad":[-1.6334196644265526,-1.5476723673173298,1.2955027060909041,-1.3186041709215677,-1.57088597307794,-0.06253984893211238],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.0600000000000245,"joint_targets_rad":[-1.6334196644265526,-1.5476723673173298,1.2955027060909041,-1.3186041709215677,-1.57088597307794,-0.06253984893211238],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.080000000000031,"qpos":[-1.6005519780735422,-1.5403725663397771,1.289216938445845,-1.319951398793226,-1.5708310511203423,-0.029750070897869723,0.0029328595069795286,0.00015649106128225735,0.003193328137697184,-0.003427895061104481,0.00293291242592287,0.00015606557584839172,0.0031955212714359434,-0.0034382276144564196,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-1.146794134501012e-17,-1.494095321967648e-17,-6.819949038732236e-08],"qvel":[-0.1675233169309321,-0.03678893868427182,0.03148420030395129,0.0067132836145073135,-0.0009607872105123192,-0.16561362825365375,-5.118540394032741e-06,2.1388184901834464e-05,0.000149944544864344,0.0001749302333100221,4.5955335628074965e-08,-2.918817858651517e-05,-0.00019081196192186731,-0.0001550038545853135,5.567644209313137e-17,-1.6673036164214196e-17,1.2411760549759056e-14,-1.0760051941372956e-15,-2.709485975774431e-15,-7.862359508469828e-08],"joint_position_rad":[-1.6005519780735422,-1.5403725663397771,1.289216938445845,-1.319951398793226,-1.5708310511203423,-0.029750070897869723],"joint_velocity_rad_s":[-0.1675233169309321,-0.03678893868427182,0.03148420030395129,0.0067132836145073135,-0.0009607872105123192,-0.16561362825365375],"linkage_position_rad":[0.0029328595069795286,0.00015649106128225735,0.003193328137697184,-0.003427895061104481,0.00293291242592287,0.00015606557584839172,0.0031955212714359434,-0.0034382276144564196],"tcp_position_m":[-0.11927309277905142,0.49647721480695484,0.42945561699775037],"tcp_quaternion_wxyz":[-9.389585428985463e-05,0.707108747414431,0.7071047976749584,0.00012497447257629483],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-1.146794134501012e-17,-1.494095321967648e-17,-6.819949038732236e-08],"object_linear_velocity_m_s":[5.567644209313137e-17,-1.6673036164214196e-17,1.2411760549759056e-14],"object_angular_velocity_rad_s":[-1.0760055613589883e-15,-2.7094858308116966e-15,-7.86235950846983e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313528751167152,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6334136644553912,-1.558509441788298,1.2853233018953951,-1.3234273973862407,-1.5708840304900171,-0.06253985053131167,0.0],"actuator_force":[1.2859540086747074,-21.55817542333307,-20.380953222480002,-2.409327657957988,0.06958903621375612,0.16647300864439885,-0.2932632337198279],"issued_joint_targets_rad":[-1.6368930286931191,-1.548323087474555,1.2960394530610981,-1.3184908162856444,-1.570887203828317,-0.06601315029307803],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.080000000000031,"joint_targets_rad":[-1.6368930286931191,-1.548323087474555,1.2960394530610981,-1.3184908162856444,-1.570887203828317,-0.06601315029307803],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.100000000000038,"qpos":[-1.6040078686351553,-1.5411336191492135,1.2898676992166445,-1.31981145518445,-1.570836695464168,-0.03319857628714881,0.002932987391105429,0.00015649037158551777,0.003193459422465891,-0.003428014631316371,0.0029330404131904133,0.0001560659699812889,0.0031956579092701216,-0.003438345200056649,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-1.2667047806535875e-17,-1.9954569778619015e-17,-6.849760720633439e-08],"qvel":[-0.16761216853358232,-0.0362244342300451,0.030909944804830808,0.006575948612509191,-0.000938350517088665,-0.16573886854194944,-6.5166374681380295e-06,2.1337261957399426e-05,0.00014905562183296505,0.0001764566094988905,-1.3183319361041395e-06,-2.909979808711227e-05,-0.00019115752459615624,-0.00015339429157513082,2.3319210889329992e-17,-1.321846772617522e-17,1.1870526825254288e-14,4.2889933004224424e-16,5.871618488393262e-16,-8.508443483609679e-09],"joint_position_rad":[-1.6040078686351553,-1.5411336191492135,1.2898676992166445,-1.31981145518445,-1.570836695464168,-0.03319857628714881],"joint_velocity_rad_s":[-0.16761216853358232,-0.0362244342300451,0.030909944804830808,0.006575948612509191,-0.000938350517088665,-0.16573886854194944],"linkage_position_rad":[0.002932987391105429,0.00015649037158551777,0.003193459422465891,-0.003428014631316371,0.0029330404131904133,0.0001560659699812889,0.0031956579092701216,-0.003438345200056649],"tcp_position_m":[-0.11756651405588575,0.49654495187480424,0.4295042430384569],"tcp_quaternion_wxyz":[-8.1273535260701e-05,0.7071113600668477,0.7071021880251573,0.00011640042751940717],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-1.2667047806535875e-17,-1.9954569778619015e-17,-6.849760720633439e-08],"object_linear_velocity_m_s":[2.3319210889329992e-17,-1.321846772617522e-17,1.1870526825254288e-14],"object_angular_velocity_rad_s":[4.2889941082016836e-16,5.871617898666113e-16,-8.50844348360968e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313527461014505,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6368871240859153,-1.5591437890678774,1.2858603091218161,-1.3233139463754666,-1.5708853112680237,-0.06601315193859293,0.0],"actuator_force":[1.2863565119127998,-21.530566145309876,-20.378758111589377,-2.4088404567593216,0.06952714978092445,0.16659902847288777,-0.2932622153677709],"issued_joint_targets_rad":[-1.6403671955144055,-1.5489597641276969,1.2965610774019336,-1.3183763867398581,-1.5708883098751183,-0.06948725849856488],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.100000000000038,"joint_targets_rad":[-1.6403671955144055,-1.5489597641276969,1.2965610774019336,-1.3183763867398581,-1.5708883098751183,-0.06948725849856488],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.1200000000000445,"qpos":[-1.6074654987917383,-1.5418828408360488,1.2905061398109372,-1.3196739634272479,-1.5708419086102106,-0.03664952459018684,0.0029330918685523083,0.00015648966406870554,0.0031935675319965046,-0.0034281119480754833,0.0029331450028605766,0.00015606642838573957,0.003195771617136088,-0.003438440511859782,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-1.3026304949947764e-18,-6.731989023439719e-18,-6.886909586815878e-08],"qvel":[-0.16769634539957437,-0.0356486011930509,0.03032160001976792,0.006456418066081575,-0.0009174505125659264,-0.16585584529786404,-7.68031493722753e-06,2.128522295863964e-05,0.00014839486617033502,0.00017775852273412378,-2.4481445805259306e-06,-2.9010532437602625e-05,-0.00019126788740345078,-0.0001520067959754908,6.177979062181511e-18,-4.427091720126904e-18,1.1623502202275194e-14,9.505418461694886e-16,1.2396023664447392e-15,-3.420127298531973e-08],"joint_position_rad":[-1.6074654987917383,-1.5418828408360488,1.2905061398109372,-1.3196739634272479,-1.5708419086102106,-0.03664952459018684],"joint_velocity_rad_s":[-0.16769634539957437,-0.0356486011930509,0.03032160001976792,0.006456418066081575,-0.0009174505125659264,-0.16585584529786404],"linkage_position_rad":[0.0029330918685523083,0.00015648966406870554,0.0031935675319965046,-0.0034281119480754833,0.0029331450028605766,0.00015606642838573957,0.003195771617136088,-0.003438440511859782],"tcp_position_m":[-0.11585992821058329,0.4966127474493098,0.4295529567003584],"tcp_quaternion_wxyz":[-6.987035005659441e-05,0.7071137237077127,0.707099826794545,0.00010867138791597043],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-1.3026304949947764e-18,-6.731989023439719e-18,-6.886909586815878e-08],"object_linear_velocity_m_s":[6.177979062181511e-18,-4.427091720126904e-18,1.1623502202275194e-14],"object_angular_velocity_rad_s":[9.505420173705535e-16,1.2396022354297096e-15,-3.4201272985319735e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313526379814442,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6403613876448775,-1.5597643432584958,1.286382192476736,-1.3231994304774706,-1.5708864661937585,-0.06948726018599773,0.0],"actuator_force":[1.2867604535513237,-21.50356436767379,-20.376534676309348,-2.408375331719526,0.06946625948262408,0.16671673188096037,-0.2932612012730555],"issued_joint_targets_rad":[-1.6438420763528538,-1.5495823769658907,1.297067594928561,-1.3182609173499968,-1.570889302787183,-0.0729620847851414],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.1200000000000445,"joint_targets_rad":[-1.6438420763528538,-1.5495823769658907,1.297067594928561,-1.3182609173499968,-1.570889302787183,-0.0729620847851414],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.140000000000051,"qpos":[-1.6109247723776408,-1.5426200147672762,1.291131994172039,-1.3195385888673705,-1.570846720978266,-0.040102751706126746,0.0029331771651531567,0.00015648893842507466,0.003193656657108832,-0.0034281910270887927,0.0029332304200260844,0.00015606694476423593,0.0031958665686738974,-0.0034385175662818533,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,1.667390312573902e-18,2.6181485562959764e-19,-6.899877671902245e-08],"qvel":[-0.16777588175028266,-0.035062446069925333,0.029720583496741965,0.006352825596051026,-0.0008979920686521558,-0.16596493904671275,-8.65187346548412e-06,2.1232048788209725e-05,0.00014792013511988238,0.0001788761507356769,-3.3857586232004353e-06,-2.8920316246106367e-05,-0.00019118484268282134,-0.00015080115761621055,2.225077819303205e-18,7.089607529559802e-19,1.1634604432521448e-14,-1.4913166273100975e-16,2.583055349773335e-16,-3.7011739026897117e-09],"joint_position_rad":[-1.6109247723776408,-1.5426200147672762,1.291131994172039,-1.3195385888673705,-1.570846720978266,-0.040102751706126746],"joint_velocity_rad_s":[-0.16777588175028266,-0.035062446069925333,0.029720583496741965,0.006352825596051026,-0.0008979920686521558,-0.16596493904671275],"linkage_position_rad":[0.0029331771651531567,0.00015648893842507466,0.003193656657108832,-0.0034281910270887927,0.0029332304200260844,0.00015606694476423593,0.0031958665686738974,-0.0034385175662818533],"tcp_position_m":[-0.11415333511848455,0.4966806023388285,0.4296017568281262],"tcp_quaternion_wxyz":[-5.9569241878804575e-05,0.7071158624250662,0.7070976900078472,0.0001017050910122602],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,1.667390312573902e-18,2.6181485562959764e-19,-6.899877671902245e-08],"object_linear_velocity_m_s":[2.225077819303205e-18,7.089607529559802e-19,1.1634604432521448e-14],"object_angular_velocity_rad_s":[-1.4913162708741453e-16,2.583055555694783e-16,-3.7011739026897125e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313525469496678,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6438363664603184,-1.5603710882859323,1.2868889681767692,-1.3230838837836096,-1.5708875069163823,-0.07296208651051798,0.0],"actuator_force":[1.2871645347577214,-21.477168609342243,-20.37428538923632,-2.407930017724766,0.06940623780701571,0.1668265024756579,-0.29326019109851864],"issued_joint_targets_rad":[-1.6473175828956916,-1.550190906170823,1.2975590205409249,-1.3181444419270898,-1.5708901930389392,-0.07643754063854717],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.140000000000051,"joint_targets_rad":[-1.6473175828956916,-1.550190906170823,1.2975590205409249,-1.3181444419270898,-1.5708901930389392,-0.07643754063854717],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.160000000000058,"qpos":[-1.6143855938872296,-1.543344943423475,1.2917450230727323,-1.3194050321549484,-1.5708511610818408,-0.04355810077595389,0.0029332467440073722,0.00015648819456503437,0.00319373023089045,-0.003428255159579434,0.0029333001271190724,0.0001560675136209898,0.00319594618149277,-0.0034385796552129466,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,1.2719972886467574e-18,8.849742939016492e-18,-6.946020265484143e-08],"qvel":[-0.1678508100389114,-0.0344668799115314,0.029108173246426172,0.006263489384821642,-0.0008798841549819749,-0.16606649499413687,-9.465982527905034e-06,2.1177720343316613e-05,0.00014759688710844606,0.00017984242548913025,-4.165821191569458e-06,-2.882909221511588e-05,-0.00019094261607798273,-0.00014974441674147054,-7.992669355351399e-18,-1.832714947642837e-18,1.158325661763253e-14,-8.09766413320352e-17,1.4176920237169787e-16,-1.4877557717329469e-08],"joint_position_rad":[-1.6143855938872296,-1.543344943423475,1.2917450230727323,-1.3194050321549484,-1.5708511610818408,-0.04355810077595389],"joint_velocity_rad_s":[-0.1678508100389114,-0.0344668799115314,0.029108173246426172,0.006263489384821642,-0.0008798841549819749,-0.16606649499413687],"linkage_position_rad":[0.0029332467440073722,0.00015648819456503437,0.00319373023089045,-0.003428255159579434,0.0029333001271190724,0.0001560675136209898,0.00319594618149277,-0.0034385796552129466],"tcp_position_m":[-0.11244673462501531,0.4967485173119316,0.42965064242037665],"tcp_quaternion_wxyz":[-5.026438760227526e-05,0.7071177979668805,0.7070957560087584,9.542726465870778e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,1.2719972886467574e-18,8.849742939016492e-18,-6.946020265484143e-08],"object_linear_velocity_m_s":[-7.992669355351399e-18,-1.832714947642837e-18,1.158325661763253e-14],"object_angular_velocity_rad_s":[-8.097662190072451e-17,1.4176921365885284e-16,-1.4877557717329476e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313524698896913,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6473119720975846,-1.5609640082064622,1.2873806514780453,-1.322967339224631,-1.5708884439859268,-0.07643754239827616,0.0],"actuator_force":[1.2875675948544085,-21.45137760136231,-20.372012487944176,-2.4075024733234613,0.06934696345524571,0.16692868825254692,-0.29325918453772487],"issued_joint_targets_rad":[-1.6507936270253374,-1.5507853323945537,1.2980353682717076,-1.3180269930783877,-1.5708909901125752,-0.07991353776135063],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.160000000000058,"joint_targets_rad":[-1.6507936270253374,-1.5507853323945537,1.2980353682717076,-1.3180269930783877,-1.5708909901125752,-0.07991353776135063],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.1800000000000646,"qpos":[-1.6178478684397002,-1.5440574465878434,1.2923450114703945,-1.3192730257467782,-1.570855255615294,-0.047015421509565766,0.002933303443134069,0.00015648743256155314,0.003193791065578739,-0.0034283070430076324,0.002933356961557235,0.00015606813015010186,0.0031960132538854384,-0.0034386294767259195,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-5.959157454206189e-18,1.4037910858605062e-17,-6.975130939378596e-08],"qvel":[-0.16792116093529344,-0.03386272749152751,0.028485521285677072,0.006186894261519078,-0.0008630399149713031,-0.16616082626169282,-1.015105733160263e-05,2.1122218916061892e-05,0.00014739681051835553,0.00018068434075910878,-4.8167272487058086e-06,-2.8736810233807436e-05,-0.000190569233998648,-0.00014880955521549708,-2.826003599496139e-17,-1.428479426535236e-17,1.1558276599578462e-14,-1.4925002352699244e-15,1.4654150090355958e-15,-5.98031136747144e-08],"joint_position_rad":[-1.6178478684397002,-1.5440574465878434,1.2923450114703945,-1.3192730257467782,-1.570855255615294,-0.047015421509565766],"joint_velocity_rad_s":[-0.16792116093529344,-0.03386272749152751,0.028485521285677072,0.006186894261519078,-0.0008630399149713031,-0.16616082626169282],"linkage_position_rad":[0.002933303443134069,0.00015648743256155314,0.003193791065578739,-0.0034283070430076324,0.002933356961557235,0.00015606813015010186,0.0031960132538854384,-0.0034386294767259195],"tcp_position_m":[-0.11074012654870234,0.49681649310114184,0.4296996126168651],"tcp_quaternion_wxyz":[-4.186011988976035e-05,0.7071195499689297,0.7070940052359814,8.977085180667495e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-5.959157454206189e-18,1.4037910858605062e-17,-6.975130939378596e-08],"object_linear_velocity_m_s":[-2.826003599496139e-17,-1.428479426535236e-17,1.1558276599578462e-14],"object_angular_velocity_rad_s":[-1.4925000325197007e-15,1.4654152165305212e-15,-5.980311367471443e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313524042507029,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6507881163285512,-1.561543087218557,1.2878572567287099,-1.3228498286125923,-1.5708892869556046,-0.07991353955218695,0.0],"actuator_force":[1.2879685964153396,-21.42619026481634,-20.369717997639782,-2.4070908590590534,0.06928832134190088,0.1670236048586844,-0.29325818131166365],"issued_joint_targets_rad":[-1.654270120793433,-1.5513656367401494,1.298496651329633,-1.31790860225315,-1.5708917025908757,-0.0833899880445525],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.1800000000000646,"joint_targets_rad":[-1.654270120793433,-1.5513656367401494,1.298496651329633,-1.31790860225315,-1.5708917025908757,-0.0833899880445525],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.200000000000071,"qpos":[-1.621311501743829,-1.544757359709244,1.292931766118841,-1.319142330748097,-1.5708590295415568,-0.050474569574568647,0.0029333495882838683,0.00015648665260647508,0.0031938414647277613,-0.0034283488881995663,0.0029334032485491593,0.00015606879014034777,0.0031960700768394407,-0.0034386692422093356,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-6.948248858705352e-18,1.4447853850509314e-17,-6.9978064657222e-08],"qvel":[-0.16798696333367685,-0.03325073559748134,0.02785366586646324,0.00612167552717364,-0.0008473766916135528,-0.16624821683058943,-1.0730387228933388e-05,2.1065526529709345e-05,0.00014729670051088825,0.00018142402264340873,-5.361747818246464e-06,-2.8643426372421273e-05,-0.00019008764507540544,-0.0001479744255384642,-1.6791511811192653e-17,-8.803231929896085e-18,1.1810852337680686e-14,3.807562825492904e-16,-6.20045507347825e-16,-6.471739333434291e-09],"joint_position_rad":[-1.621311501743829,-1.544757359709244,1.292931766118841,-1.319142330748097,-1.5708590295415568,-0.050474569574568647],"joint_velocity_rad_s":[-0.16798696333367685,-0.03325073559748134,0.02785366586646324,0.00612167552717364,-0.0008473766916135528,-0.16624821683058943],"linkage_position_rad":[0.0029333495882838683,0.00015648665260647508,0.0031938414647277613,-0.0034283488881995663,0.0029334032485491593,0.00015606879014034777,0.0031960700768394407,-0.0034386692422093356],"tcp_position_m":[-0.10903351068390561,0.4968845304063429,0.4297486666869029],"tcp_quaternion_wxyz":[-3.4269952739853014e-05,0.7071211361603803,0.7070924200208303,8.46753102074526e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-6.948248858705352e-18,1.4447853850509314e-17,-6.9978064657222e-08],"object_linear_velocity_m_s":[-1.6791511811192653e-17,-8.803231929896085e-18,1.1810852337680686e-14],"object_angular_velocity_rad_s":[3.8075619558311217e-16,-6.200455607269292e-16,-6.471739333434293e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313523479451168,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6542647111045805,-1.5621083096741537,1.288318797416345,-1.322731382678457,-1.5708900444747977,-0.08338998986356413,0.0],"actuator_force":[1.288366611967831,-21.401605690826727,-20.367403751577513,-2.406693517897338,0.06923020254077983,0.1671115385611941,-0.2932571811664155],"issued_joint_targets_rad":[-1.6577469763982209,-1.5519318007447704,1.2989428821385063,-1.3177892997837128,-1.5708923382415358,-0.08686680354282106],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.200000000000071,"joint_targets_rad":[-1.6577469763982209,-1.5519318007447704,1.2989428821385063,-1.3177892997837128,-1.5708923382415358,-0.08686680354282106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.220000000000078,"qpos":[-1.6247764000630835,-1.5454445324226138,1.2935051134119624,-1.319012734060874,-1.5708625061795582,-0.05393540604123656,0.0029333870853925285,0.00015648585497693947,0.0031938833151222952,-0.0034283825071491523,0.002933440893542075,0.00015606948989449552,0.0031961185258131096,-0.00343870076417965,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,7.820619033610136e-19,-1.6802002519384075e-18,-7.040539270248681e-08],"qvel":[-0.16804824437949561,-0.032631580528040244,0.027213542517472548,0.0060666043511089516,-0.0008328160117653387,-0.1663289242200943,-1.1223060588422772e-05,2.1007626026332214e-05,0.00014727753783375154,0.00018207960886226055,-5.819954687218332e-06,-2.854890212164279e-05,-0.00018951663843690873,-0.0001472208726456159,4.7333179341818215e-18,-2.4031066421853348e-18,1.157354216616706e-14,2.301458475213222e-16,-1.0019856660893693e-15,-2.6014361388084576e-08],"joint_position_rad":[-1.6247764000630835,-1.5454445324226138,1.2935051134119624,-1.319012734060874,-1.5708625061795582,-0.05393540604123656],"joint_velocity_rad_s":[-0.16804824437949561,-0.032631580528040244,0.027213542517472548,0.0060666043511089516,-0.0008328160117653387,-0.1663289242200943],"linkage_position_rad":[0.0029333870853925285,0.00015648585497693947,0.0031938833151222952,-0.0034283825071491523,0.002933440893542075,0.00015606948989449552,0.0031961185258131096,-0.00343870076417965],"tcp_position_m":[-0.10732688680329365,0.49695262989788264,0.4297978040188924],"tcp_quaternion_wxyz":[-2.741570055022115e-05,0.7071225725492978,0.7070909844043249,8.008598003348956e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,7.820619033610136e-19,-1.6802002519384075e-18,-7.040539270248681e-08],"object_linear_velocity_m_s":[4.7333179341818215e-18,-2.4031066421853348e-18,1.157354216616706e-14],"object_angular_velocity_rad_s":[2.3014570651835005e-16,-1.0019856984556878e-15,-2.6014361388084586e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313522992647039,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6577416685329263,-1.5626596600894482,1.2887652862107308,-1.3226120311057512,-1.5708907243735377,-0.086866805387359,0.0],"actuator_force":[1.2887608121131962,-21.37762312245286,-20.365071409451957,-2.406308957549527,0.06917250418678123,0.16719274894821012,-0.29325618387035196],"issued_joint_targets_rad":[-1.6612241061649808,-1.5524838063649153,1.2993740723723577,-1.3176691149222781,-1.5708929040937112,-0.09034389645303192],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.220000000000078,"joint_targets_rad":[-1.6612241061649808,-1.5524838063649153,1.2993740723723577,-1.3176691149222781,-1.5708929040937112,-0.09034389645303192],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.240000000000085,"qpos":[-1.6282424701814346,-1.5461188272116488,1.2940648974366453,-1.318884045808833,-1.5708657072906476,-0.05739779687857093,0.0029334174963497298,0.00015648504000826722,0.003193918162093863,-0.0034284093849744715,0.0029334714579854087,0.0001560702261605598,0.0031961601359279525,-0.003438725528238005,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,2.2430560281101065e-18,-6.607416901094333e-18,-7.055490844965044e-08],"qvel":[-0.16810502951158768,-0.03200587487190672,0.02656599401348059,0.006020574585952703,-0.0008192835363305332,-0.1664031819245227,-1.1644722686720152e-05,2.0948501335564195e-05,0.00014732373425533436,0.00018266596753701588,-6.20697814715459e-06,-2.8453203666965654e-05,-0.0001888715957063672,-0.00014653401246715524,6.844666686251992e-17,3.0129149891659545e-17,1.1504153227127988e-14,1.9369304895375354e-15,-4.561967328192912e-15,-1.0456956987331997e-07],"joint_position_rad":[-1.6282424701814346,-1.5461188272116488,1.2940648974366453,-1.318884045808833,-1.5708657072906476,-0.05739779687857093],"joint_velocity_rad_s":[-0.16810502951158768,-0.03200587487190672,0.02656599401348059,0.006020574585952703,-0.0008192835363305332,-0.1664031819245227],"linkage_position_rad":[0.0029334174963497298,0.00015648504000826722,0.003193918162093863,-0.0034284093849744715,0.0029334714579854087,0.0001560702261605598,0.0031961601359279525,-0.003438725528238005],"tcp_position_m":[-0.10562025466008464,0.4970207922194039,0.42984702411087394],"tcp_quaternion_wxyz":[-2.1226681707884712e-05,0.7071238735900419,0.7070896839719173,7.595351283785184e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,2.2430560281101065e-18,-6.607416901094333e-18,-7.055490844965044e-08],"object_linear_velocity_m_s":[6.844666686251992e-17,3.0129149891659545e-17,1.1504153227127988e-14],"object_angular_velocity_rad_s":[1.9369298471810124e-15,-4.561967601043665e-15,-1.0456956987332002e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931352256811862,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.661218900856287,-1.5631971231551942,1.2891967350023468,-1.3224918025606536,-1.5708913337392298,-0.09034389832070303,0.0],"actuator_force":[1.2891504549302226,-21.354241938328414,-20.362722473989834,-2.405935834505499,0.06911512934198072,0.167267471386225,-0.2932551892125876],"issued_joint_targets_rad":[-1.6647014225292838,-1.553021635963556,1.2997902329870337,-1.3175480758738343,-1.5708934065075029,-0.09382117909585048],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.240000000000085,"joint_targets_rad":[-1.6647014225292838,-1.553021635963556,1.2997902329870337,-1.3175480758738343,-1.5708934065075029,-0.09382117909585048],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.260000000000091,"qpos":[-1.631709619370151,-1.546780118200145,1.2946109782146467,-1.3187560970123307,-1.570868653163414,-0.06086161249685735,0.0029334421010941344,0.00015648420807344484,0.0031939472712357426,-0.003428430738890993,0.0029334962214210415,0.00015607099607260093,0.003196196163570294,-0.0034387447520395067,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,7.387697451628411e-18,-2.0056297872419505e-17,-7.095140453333249e-08],"qvel":[-0.16815734251686534,-0.031374173637131,0.025911779376489738,0.005982590863517987,-0.0008067089828532958,-0.16647120163073983,-1.2008196989038951e-05,2.08881374652721e-05,0.00014742251382876464,0.00018319528723819323,-6.535628138584384e-06,-2.8356301472978377e-05,-0.0001881651084514174,-0.0001459016443837679,2.4103509683042544e-17,8.805123164453462e-18,1.1391743145884689e-14,-5.964998962109243e-17,5.611823118708851e-16,-1.131625022251867e-08],"joint_position_rad":[-1.631709619370151,-1.546780118200145,1.2946109782146467,-1.3187560970123307,-1.570868653163414,-0.06086161249685735],"joint_velocity_rad_s":[-0.16815734251686534,-0.031374173637131,0.025911779376489738,0.005982590863517987,-0.0008067089828532958,-0.16647120163073983],"linkage_position_rad":[0.0029334421010941344,0.00015648420807344484,0.0031939472712357426,-0.003428430738890993,0.0029334962214210415,0.00015607099607260093,0.003196196163570294,-0.0034387447520395067],"tcp_position_m":[-0.10391361399008316,0.4970890179904267,0.42989632656200394],"tcp_quaternion_wxyz":[-1.5638998610224e-05,0.7071250523343302,0.7070885057041545,7.223335591010005e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,7.387697451628411e-18,-2.0056297872419505e-17,-7.095140453333249e-08],"object_linear_velocity_m_s":[2.4103509683042544e-17,8.805123164453462e-18,1.1391743145884689e-14],"object_angular_velocity_rad_s":[-5.964990953382123e-17,5.611823205025828e-16,-1.1316250222518678e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313522194433302,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6646963204352618,-1.563720683746494,1.289613154937,-1.3223707247188576,-1.5708918789863158,-0.09382118098449291,0.0],"actuator_force":[1.2895348765246126,-21.331461637845678,-20.360358305888894,-2.405572939615354,0.06905798683442299,0.16733591925620317,-0.2932541970001207],"issued_joint_targets_rad":[-1.6681788380228224,-1.5535452722989218,1.3001913742485172,-1.3174262098255423,-1.570893851237001,-0.09729856390008158],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.260000000000091,"joint_targets_rad":[-1.6681788380228224,-1.5535452722989218,1.3001913742485172,-1.3174262098255423,-1.570893851237001,-0.09729856390008158],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.280000000000098,"qpos":[-1.6351777553557842,-1.5474282900596532,1.2951432301150714,-1.3186287374888144,-1.5708713626964517,-0.06432672733253197,0.0029334619485023817,0.00015648335956715644,0.0031939716789720187,-0.003428447566547136,0.0029335162323680442,0.00015607179710087755,0.0031962276368595007,-0.003438759433645588,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,4.04452859794033e-18,-1.1440743602452265e-17,-7.13180112502968e-08],"qvel":[-0.16820520559482696,-0.030736979792643185,0.025251582002340116,0.005951757847314361,-0.0007950260259881093,-0.16653317523593375,-1.232399418902059e-05,2.082652058597797e-05,0.00014756340598562893,0.00018367756013247289,-6.81640315540509e-06,-2.82581695737357e-05,-0.00018740748265471972,-0.000145313765266733,9.825342727473792e-18,9.686800546485688e-18,1.140145759735016e-14,-3.5642435412901536e-16,6.941788270932671e-16,-4.548777502912524e-08],"joint_position_rad":[-1.6351777553557842,-1.5474282900596532,1.2951432301150714,-1.3186287374888144,-1.5708713626964517,-0.06432672733253197],"joint_velocity_rad_s":[-0.16820520559482696,-0.030736979792643185,0.025251582002340116,0.005951757847314361,-0.0007950260259881093,-0.16653317523593375],"linkage_position_rad":[0.0029334619485023817,0.00015648335956715644,0.0031939716789720187,-0.003428447566547136,0.0029335162323680442,0.00015607179710087755,0.0031962276368595007,-0.003438759433645588],"tcp_position_m":[-0.10220696451352876,0.49715730780870426,0.4299457110648726],"tcp_quaternion_wxyz":[-1.059488676952991e-05,0.7071261205675708,0.7070874378417585,6.888528665786177e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,4.04452859794033e-18,-1.1440743602452265e-17,-7.13180112502968e-08],"object_linear_velocity_m_s":[9.825342727473792e-18,9.686800546485688e-18,1.140145759735016e-14],"object_angular_velocity_rad_s":[-3.564242540732772e-16,6.9417887830016585e-16,-4.5487775029125275e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313521862240821,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.668173839733455,-1.5642303269320703,1.2900145564468855,-1.3222488242894794,-1.5708923659195002,-0.09729856580774256,0.0],"actuator_force":[1.289913482589327,-21.309281827776886,-20.357980137308004,-2.40521918506397,0.06900099107451751,0.16739828598807804,-0.2932532070567992],"issued_joint_targets_rad":[-1.671656265261599,-1.5540546985147425,1.3005775057582842,-1.3173035429729398,-1.5708942434874793,-0.10077596338953967],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.280000000000098,"joint_targets_rad":[-1.671656265261599,-1.5540546985147425,1.3005775057582842,-1.3173035429729398,-1.5708942434874793,-0.10077596338953967],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.300000000000105,"qpos":[-1.6386467862895417,-1.548063237022288,1.2956615404208691,-1.3185018339569325,-1.5708738534786981,-0.06779301947154674,0.0029334778980941076,0.00015648249489384013,0.0031939922339935707,-0.0034284606856348774,0.0029335323500237903,0.0001560726270083893,0.0031962553969922497,-0.0034387703911306325,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,3.0801098255789893e-18,-5.910038376154367e-18,-7.149048709270782e-08],"qvel":[-0.1682486394295731,-0.030094749278298936,0.024586016997772766,0.0059272705292263885,-0.0007841721807101448,-0.16658927668366444,-1.2600729495641909e-05,2.0763638082802762e-05,0.00014773783015679118,0.00018412097929413777,-7.057907426737296e-06,-2.8158785327098762e-05,-0.00018660715270991016,-0.00014476217423544106,7.71891435635067e-18,4.026014732541655e-18,1.1440315403212041e-14,-1.322754740022424e-16,5.249815473059796e-16,-4.922570159931398e-09],"joint_position_rad":[-1.6386467862895417,-1.548063237022288,1.2956615404208691,-1.3185018339569325,-1.5708738534786981,-0.06779301947154674],"joint_velocity_rad_s":[-0.1682486394295731,-0.030094749278298936,0.024586016997772766,0.0059272705292263885,-0.0007841721807101448,-0.16658927668366444],"linkage_position_rad":[0.0029334778980941076,0.00015648249489384013,0.0031939922339935707,-0.0034284606856348774,0.0029335323500237903,0.0001560726270083893,0.0031962553969922497,-0.0034387703911306325],"tcp_position_m":[-0.10050030593677313,0.4972256622523789,0.42999517739859217],"tcp_quaternion_wxyz":[-6.042126376550007e-06,0.7071270889319093,0.7070864697637232,6.587299216474717e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,3.0801098255789893e-18,-5.910038376154367e-18,-7.149048709270782e-08],"object_linear_velocity_m_s":[7.71891435635067e-18,4.026014732541655e-18,1.1440315403212041e-14],"object_angular_velocity_rad_s":[-1.3227539888168292e-16,5.249815662491748e-16,-4.922570159931402e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313521563895523,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6716513713050076,-1.564726037983033,1.2904009492784163,-1.3221261270363132,-1.5708927997911266,-0.10077596531445539,0.0],"actuator_force":[1.290285740897616,-21.287702210170664,-20.35558908401481,-2.404873592612944,0.06894406185665503,0.1674547469121208,-0.29325221922128303],"issued_joint_targets_rad":[-1.6751336169362778,-1.5545498981317567,1.300948636475937,-1.3171801005432366,-1.5708945879672624,-0.10425329017224334],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.300000000000105,"joint_targets_rad":[-1.6751336169362778,-1.5545498981317567,1.300948636475937,-1.3171801005432366,-1.5708945879672624,-0.10425329017224334],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.320000000000111,"qpos":[-1.6421166207181537,-1.5486848619886107,1.296165808034385,-1.3183752683245276,-1.5708761418670674,-0.07126037030776887,0.002933490654210272,0.00015648161445837744,0.0031940096312085115,-0.0034284707663565844,0.002933545278438805,0.0001560734838136838,0.0031962801321111884,-0.003438778295045245,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,5.3272970248269904e-18,-4.9465893538394024e-18,-7.191220379332703e-08],"qvel":[-0.1682876632674988,-0.029447895534106386,0.02391563780440515,0.005908405469154977,-0.0007740886722690365,-0.16663966363469473,-1.2845464610703163e-05,2.0699478585331958e-05,0.00014793875510210456,0.0001845322623701591,-7.26719279236629e-06,-2.8058129072004693e-05,-0.00018577102067728548,-0.00014424014791460457,6.176522936082672e-18,4.839158158196655e-18,1.1430600951746569e-14,1.828096812814553e-17,2.5677843081353415e-16,-1.9787187416068715e-08],"joint_position_rad":[-1.6421166207181537,-1.5486848619886107,1.296165808034385,-1.3183752683245276,-1.5708761418670674,-0.07126037030776887],"joint_velocity_rad_s":[-0.1682876632674988,-0.029447895534106386,0.02391563780440515,0.005908405469154977,-0.0007740886722690365,-0.16663966363469473],"linkage_position_rad":[0.002933490654210272,0.00015648161445837744,0.0031940096312085115,-0.0034284707663565844,0.002933545278438805,0.0001560734838136838,0.0031962801321111884,-0.003438778295045245],"tcp_position_m":[-0.09879363795380548,0.49729408188195423,0.4300447254225872],"tcp_quaternion_wxyz":[-1.9335103303201333e-06,0.7071279670372899,0.7070855918771921,6.316368955246915e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,5.3272970248269904e-18,-4.9465893538394024e-18,-7.191220379332703e-08],"object_linear_velocity_m_s":[6.176522936082672e-18,4.839158158196655e-18,1.1430600951746569e-14],"object_angular_velocity_rad_s":[1.8281005254909246e-17,2.567784283951067e-16,-1.978718741606873e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313521293147003,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6751288277843568,-1.5652078023811389,1.2907723425170927,-1.322002657796649,-1.5708931853532264,-0.10425329211282078,0.0],"actuator_force":[1.290651174593222,-21.266722571413993,-20.35318615634651,-2.404535282976326,0.06888712414740894,0.1675054609435236,-0.2932512333454385],"issued_joint_targets_rad":[-1.6786108058045095,-1.5550308550403293,1.3013047747393345,-1.3170559068159686,-1.5708948889347583,-0.10773045693170509],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.320000000000111,"joint_targets_rad":[-1.6786108058045095,-1.5550308550403293,1.3013047747393345,-1.3170559068159686,-1.5708948889347583,-0.10773045693170509],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.340000000000118,"qpos":[-1.6455871675563418,-1.5492930757214547,1.296655942308448,-1.318248936142617,-1.5708782430611696,-0.07472866423326043,0.0029335007940233127,0.00015648071865940468,0.0031940244395583387,-0.003428478358032487,0.0029335555945237688,0.00015607436575913166,0.003196302405048461,-0.003438783695038085,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,5.887913896969958e-18,-4.1637347512868594e-18,-7.217153321550107e-08],"qvel":[-0.16832229499895413,-0.028796793594624222,0.023240942178751042,0.005894512885963545,-0.0007647202964674863,-0.16668447898737937,-1.3063987956680581e-05,2.0634031843787792e-05,0.00014816041964203487,0.000184916917248539,-7.450038815133549e-06,-2.7956183587493763e-05,-0.00018490473369487274,-0.000143742172685731,1.0268036912901676e-17,2.2053547106914834e-17,1.1418110942719533e-14,8.288035387379117e-16,-4.982898882657513e-16,-7.95382844973147e-08],"joint_position_rad":[-1.6455871675563418,-1.5492930757214547,1.296655942308448,-1.318248936142617,-1.5708782430611696,-0.07472866423326043],"joint_velocity_rad_s":[-0.16832229499895413,-0.028796793594624222,0.023240942178751042,0.005894512885963545,-0.0007647202964674863,-0.16668447898737937],"linkage_position_rad":[0.0029335007940233127,0.00015648071865940468,0.0031940244395583387,-0.003428478358032487,0.0029335555945237688,0.00015607436575913166,0.003196302405048461,-0.003438783695038085],"tcp_position_m":[-0.09708696024764642,0.49736256724209943,0.43009435507102367],"tcp_quaternion_wxyz":[1.7736366888546282e-06,0.7071287635617015,0.7070847955179697,6.07277831771224e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,5.887913896969958e-18,-4.1637347512868594e-18,-7.217153321550107e-08],"object_linear_velocity_m_s":[1.0268036912901676e-17,2.2053547106914834e-17,1.1418110942719533e-14],"object_angular_velocity_rad_s":[8.28803467475566e-16,-4.982900069611617e-16,-7.953828449731475e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.093135210448868,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6786061218780202,-1.5656756058265533,1.2911287446096487,-1.3218784404978847,-1.5708935269047297,-0.10773045888650558,0.0],"actuator_force":[1.2910093562254588,-21.24634277234736,-20.350772269098798,-2.404203466230115,0.0688301078666882,0.16755057211536695,-0.293250249293495],"issued_joint_targets_rad":[-1.682087744685065,-1.5554975534940463,1.3016459282824646,-1.3169309851412636,-1.5708951502410904,-0.11120737642014657],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.340000000000118,"joint_targets_rad":[-1.682087744685065,-1.5554975534940463,1.3016459282824646,-1.3169309851412636,-1.5708951502410904,-0.11120737642014657],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.360000000000125,"qpos":[-1.6490583360609556,-1.5498877961174333,1.2971318619907874,-1.3181227452092505,-1.5708801711749767,-0.0781977883575686,0.0029335087904920755,0.0001564798078848958,0.00319403712481202,-0.0034284839109061213,0.002933563771001557,0.00015607527128266683,0.003196322676050378,-0.003438787041653029,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,6.539659256375507e-18,-3.3421119139439986e-18,-7.247311825925887e-08],"qvel":[-0.1683525512425155,-0.028141783790165815,0.022562377590886012,0.0058850095170823735,-0.0007560152731424145,-0.16672385226124772,-1.3261044427151769e-05,2.0567288792504343e-05,0.00014839810399988102,0.00018527946191764853,-7.611182472446906e-06,-2.785293412857518e-05,-0.0001840129120187577,-0.0001432637290911602,4.579471666102517e-18,8.075555005868525e-18,1.1355660897584368e-14,-2.3556750412320315e-16,2.659262951751895e-16,-8.607428822094112e-09],"joint_position_rad":[-1.6490583360609556,-1.5498877961174333,1.2971318619907874,-1.3181227452092505,-1.5708801711749767,-0.0781977883575686],"joint_velocity_rad_s":[-0.1683525512425155,-0.028141783790165815,0.022562377590886012,0.0058850095170823735,-0.0007560152731424145,-0.16672385226124772],"linkage_position_rad":[0.0029335087904920755,0.0001564798078848958,0.00319403712481202,-0.0034284839109061213,0.002933563771001557,0.00015607527128266683,0.003196322676050378,-0.003438787041653029],"tcp_position_m":[-0.09538027249161005,0.4974311188633107,0.4301440663478183],"tcp_quaternion_wxyz":[5.117893000188843e-06,0.70712948634167,0.7070840728606537,5.853855510106789e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,6.539659256375507e-18,-3.3421119139439986e-18,-7.247311825925887e-08],"object_linear_velocity_m_s":[4.579471666102517e-18,8.075555005868525e-18,1.1355660897584368e-14],"object_angular_velocity_rad_s":[-2.355674655206512e-16,2.6592632943238937e-16,-8.60742882209412e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931352081494088,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6820831663582438,-1.5661294342451397,1.2914701633837458,-1.3217534981721342,-1.5708938283342733,-0.11120737838787094,0.0],"actuator_force":[1.291359902430031,-21.22656273934672,-20.34834825043754,-2.4038774331501145,0.06877294766604791,0.16759021097360005,-0.2932492669401836],"issued_joint_targets_rad":[-1.685564346453611,-1.5559499781041435,1.3019721042512151,-1.3168053579559265,-1.5708953753687427,-0.11468396145346382],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.360000000000125,"joint_targets_rad":[-1.685564346453611,-1.5559499781041435,1.3019721042512151,-1.3168053579559265,-1.5708953753687427,-0.11468396145346382],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.380000000000131,"qpos":[-1.6525300358068065,-1.55046894754868,1.2975934942707594,-1.3179966143086668,-1.5708819393053408,-0.08166763225341668,0.00293351503117394,0.00015647888250847284,0.003194048068237066,-0.0034284877940133577,0.002933570195216864,0.00015607619899473478,0.0031963413213902977,-0.003438788704215387,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-6.288299564861547e-18,-2.28625387355059e-18,-7.284892873752408e-08],"qvel":[-0.16837844743062386,-0.02748317509232126,0.021880346097997803,0.005879372172170343,-0.0007479250954026753,-0.16675790085607559,-1.3440523616632493e-05,2.0499241531313336e-05,0.0001486479424392414,0.00018562360209500877,-7.754506284391854e-06,-2.7748367979077147e-05,-0.00018309933489738393,-0.00014280110966615264,-1.693327461416346e-18,-1.827558124300912e-17,1.13154153129417e-14,-1.1040084753397187e-15,2.6716388157155095e-17,-3.459916298594528e-08],"joint_position_rad":[-1.6525300358068065,-1.55046894754868,1.2975934942707594,-1.3179966143086668,-1.5708819393053408,-0.08166763225341668],"joint_velocity_rad_s":[-0.16837844743062386,-0.02748317509232126,0.021880346097997803,0.005879372172170343,-0.0007479250954026753,-0.16675790085607559],"linkage_position_rad":[0.00293351503117394,0.00015647888250847284,0.003194048068237066,-0.0034284877940133577,0.002933570195216864,0.00015607619899473478,0.0031963413213902977,-0.003438788704215387],"tcp_position_m":[-0.0936735743504626,0.49749973726343516,0.43019385932218496],"tcp_quaternion_wxyz":[8.134132983560492e-06,0.7071301424539426,0.7070834168374506,5.657188560733098e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-6.288299564861547e-18,-2.28625387355059e-18,-7.284892873752408e-08],"object_linear_velocity_m_s":[-1.693327461416346e-18,-1.827558124300912e-17,1.13154153129417e-14],"object_angular_velocity_rad_s":[-1.1040084712889824e-15,2.671654857368451e-17,-3.4599162985945315e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313520599899695,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.685559874058336,-1.5665692737952686,1.291796606065389,-1.3216278529690106,-1.5708940931590158,-0.11468396343293895,0.0],"actuator_force":[1.291702469190568,-21.20738245624898,-20.345914849940073,-2.40355654738903,0.06871558270279365,0.16762449584642525,-0.29324828617003507],"issued_joint_targets_rad":[-1.6890405240399915,-1.556388113834673,1.3022833092172248,-1.3166790467975247,-1.5708955674665732,-0.11816012490777664],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.380000000000131,"joint_targets_rad":[-1.6890405240399915,-1.556388113834673,1.3022833092172248,-1.3166790467975247,-1.5708955674665732,-0.11816012490777664],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.400000000000138,"qpos":[-1.6560021766642297,-1.5510364602680604,1.2980407739184254,-1.317870472072594,-1.5708835595973183,-0.0851380877264188,0.002933519833641363,0.00015647794288727775,0.003194057581897413,-0.0034284903098414517,0.0029335751845503675,0.000156077147656442,0.003196358648611804,-0.003438788985479025,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-8.030955803998191e-18,-3.3788910388045543e-19,-7.298011826655461e-08],"qvel":[-0.16839999789567478,-0.026821248137895767,0.02119520874378795,0.005877131913471384,-0.0007404043766622664,-0.166786731197616,-1.3605614099654565e-05,2.042988327176329e-05,0.0001489067692756299,0.00018595237692031904,-7.88319253444211e-06,-2.764247431713714e-05,-0.0001821670936758745,-0.00014235127561271462,1.0073384783733948e-18,-9.323820099798093e-18,1.1276557507079817e-14,2.8623776463691203e-16,9.205742217151813e-17,-3.744232536416022e-09],"joint_position_rad":[-1.6560021766642297,-1.5510364602680604,1.2980407739184254,-1.317870472072594,-1.5708835595973183,-0.0851380877264188],"joint_velocity_rad_s":[-0.16839999789567478,-0.026821248137895767,0.02119520874378795,0.005877131913471384,-0.0007404043766622664,-0.166786731197616],"linkage_position_rad":[0.002933519833641363,0.00015647794288727775,0.003194057581897413,-0.0034284903098414517,0.0029335751845503675,0.000156077147656442,0.003196358648611804,-0.003438788985479025],"tcp_position_m":[-0.09196686548147684,0.49756842294907694,0.43024373412466255],"tcp_quaternion_wxyz":[1.085388242697352e-05,0.7071307382892327,0.707082821064845,5.480600084344774e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-8.030955803998191e-18,-3.3788910388045543e-19,-7.298011826655461e-08],"object_linear_velocity_m_s":[1.0073384783733948e-18,-9.323820099798093e-18,1.1276557507079817e-14],"object_angular_velocity_rad_s":[2.862377780761626e-16,9.205738033204585e-17,-3.744232536416025e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313520396979179,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6890361578695499,-1.5669951108741769,1.2921080792942607,-1.3215015261667271,-1.5708943245598164,-0.11816012689794328,0.0],"actuator_force":[1.2920367476294814,-21.188801957074702,-20.343472745844792,-2.403240238413673,0.06865795641715522,0.16765353399935634,-0.29324730687641604],"issued_joint_targets_rad":[-1.6925161904268764,-1.5568119459982979,1.3025795491899863,-1.3165520723166846,-1.5708957293815453,-0.12163577971743605],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.400000000000138,"joint_targets_rad":[-1.6925161904268764,-1.5568119459982979,1.3025795491899863,-1.3165520723166846,-1.5708957293815453,-0.12163577971743605],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.420000000000145,"qpos":[-1.6594746687783628,-1.551590269871755,1.2984736425069991,-1.3177442559518269,-1.5708850433062904,-0.08860904860665743,0.002933523458116684,0.0001564769893613022,0.0031940659211892922,-0.003428491706323719,0.0029335789990514727,0.00015607811616238717,0.0031963749090159767,-0.0034387881336259453,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-2.105770201656953e-17,1.805369039879336e-18,-7.344691232905018e-08],"qvel":[-0.1684172159556686,-0.02615625796201953,0.020507289529810648,0.005877868801915449,-0.0007334106972825085,-0.16681043978026655,-1.3758929938184603e-05,2.0359208199280203e-05,0.00014917199294399206,0.00018626828148413706,-7.999849707779516e-06,-2.7535244088417125e-05,-0.00018121871655169962,-0.0001419117332586914,3.921741030538863e-19,-2.3597952023708228e-17,1.123631192243715e-14,2.8702242863216675e-16,1.4510211550951724e-16,-1.505063991376842e-08],"joint_position_rad":[-1.6594746687783628,-1.551590269871755,1.2984736425069991,-1.3177442559518269,-1.5708850433062904,-0.08860904860665743],"joint_velocity_rad_s":[-0.1684172159556686,-0.02615625796201953,0.020507289529810648,0.005877868801915449,-0.0007334106972825085,-0.16681043978026655],"linkage_position_rad":[0.002933523458116684,0.0001564769893613022,0.0031940659211892922,-0.003428491706323719,0.0029335789990514727,0.00015607811616238717,0.0031963749090159767,-0.0034387881336259453],"tcp_position_m":[-0.09026014553539663,0.4976371764168954,0.43029369094359105],"tcp_quaternion_wxyz":[1.3305639780406373e-05,0.7071312796187911,0.7070822797773603,5.3221244966646385e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-2.105770201656953e-17,1.805369039879336e-18,-7.344691232905018e-08],"object_linear_velocity_m_s":[3.921741030538863e-19,-2.3597952023708228e-17,1.123631192243715e-14],"object_angular_velocity_rad_s":[2.870224498924246e-16,1.4510207271382972e-16,-1.5050639913768434e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313520203906688,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6925119307393708,-1.5674069321238837,1.2924045891371658,-1.3213745381816953,-1.5708945254131266,-0.12163578171733788,0.0],"actuator_force":[1.2923624602512973,-21.170821319449715,-20.341022551590868,-2.4029279951256513,0.06860001631025625,0.16767742268643104,-0.293246328960178],"issued_joint_targets_rad":[-1.6959912586496584,-1.5572214602526362,1.3028608296273283,-1.3164244542877355,-1.5708958636874668,-0.12511083887434088],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.420000000000145,"joint_targets_rad":[-1.6959912586496584,-1.5572214602526362,1.3028608296273283,-1.3164244542877355,-1.5708958636874668,-0.12511083887434088],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.440000000000151,"qpos":[-1.6629474225501264,-1.5521303168136915,1.2988920477105466,-1.3176179112873547,-1.5708864008568961,-0.0920804105601553,0.002933526117825502,0.00015647602225193558,0.00319407329510587,-0.0034284921866811913,0.0029335818517898017,0.00015607910352408782,0.0031963903078805356,-0.003438786352114569,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-2.868808759799675e-17,7.15197009052896e-18,-7.374140573902853e-08],"qvel":[-0.16843011399881444,-0.02548843646827622,0.019816879000176497,0.005881207154133914,-0.0007269044521920875,-0.16682911411586313,-1.3902614276685753e-05,2.0287211609328504e-05,0.00014944149306174854,0.00018657336255962486,-8.106616026509041e-06,-2.7426669755529785e-05,-0.0001802562711508507,-0.00014148043869516264,-1.2305105601804619e-17,-6.550838126028905e-17,1.1250189710244963e-14,-2.7772639510554195e-15,1.3582253665853635e-15,-6.049884979386158e-08],"joint_position_rad":[-1.6629474225501264,-1.5521303168136915,1.2988920477105466,-1.3176179112873547,-1.5708864008568961,-0.0920804105601553],"joint_velocity_rad_s":[-0.16843011399881444,-0.02548843646827622,0.019816879000176497,0.005881207154133914,-0.0007269044521920875,-0.16682911411586313],"linkage_position_rad":[0.002933526117825502,0.00015647602225193558,0.00319407329510587,-0.0034284921866811913,0.0029335818517898017,0.00015607910352408782,0.0031963903078805356,-0.003438786352114569],"tcp_position_m":[-0.08855341415732441,0.49770599815481226,0.4303437300219899],"tcp_quaternion_wxyz":[1.551516658407949e-05,0.7071317716545088,0.7070817877677286,5.1799874406581894e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-2.868808759799675e-17,7.15197009052896e-18,-7.374140573902853e-08],"object_linear_velocity_m_s":[-1.2305105601804619e-17,-6.550838126028905e-17,1.1250189710244963e-14],"object_angular_velocity_rad_s":[-2.7772637516058686e-15,1.3582257727128534e-15,-6.049884979386163e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313520018827863,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6959871056710867,-1.567804724436682,1.292686141099722,-1.3212469085767329,-1.5708946983198817,-0.12511084088311453,0.0],"actuator_force":[1.292679357605266,-21.153440658670206,-20.338564821719956,-2.4026193601025625,0.06854171372651763,0.16769625010670097,-0.2932453523292492],"issued_joint_targets_rad":[-1.6994656417974818,-1.5576166425970648,1.3031271554444004,-1.316296211617845,-1.570895972711024,-0.12858521542845383],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.440000000000151,"joint_targets_rad":[-1.6994656417974818,-1.5576166425970648,1.3031271554444004,-1.316296211617845,-1.570895972711024,-0.12858521542845383],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.460000000000158,"qpos":[-1.6664203486188909,-1.5526565459668407,1.2992959426696062,-1.3174913904713506,-1.5708876418988278,-0.09555207091845151,0.0029335279874823004,0.00015647504186281247,0.003194079874650172,-0.003428491917489708,0.0029335839173390984,0.00015608010885686423,0.0031964050128355497,-0.00343878380775092,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-2.992216316051059e-17,1.0178953876990849e-17,-7.397079902274959e-08],"qvel":[-0.16843870356645557,-0.02481799466100637,0.01912423747713316,0.0058868112607187075,-0.0007208487007017087,-0.16684283359708812,-1.4038424291104755e-05,2.0213889713493317e-05,0.00014971353546347946,0.00018686930160730187,-8.205244342835683e-06,-2.7316745206204972e-05,-0.0001792814482563365,-0.0001410557147702123,-1.0207553245230909e-17,-3.524435820394841e-17,1.121549524072543e-14,1.177812514994651e-15,-3.075842415607866e-16,-6.547030108963468e-09],"joint_position_rad":[-1.6664203486188909,-1.5526565459668407,1.2992959426696062,-1.3174913904713506,-1.5708876418988278,-0.09555207091845151],"joint_velocity_rad_s":[-0.16843870356645557,-0.02481799466100637,0.01912423747713316,0.0058868112607187075,-0.0007208487007017087,-0.16684283359708812],"linkage_position_rad":[0.0029335279874823004,0.00015647504186281247,0.003194079874650172,-0.003428491917489708,0.0029335839173390984,0.00015608010885686423,0.0031964050128355497,-0.00343878380775092],"tcp_position_m":[-0.08684667098753043,0.49777488864312686,0.4303938516548139],"tcp_quaternion_wxyz":[1.7505750033973774e-05,0.7071322191031806,0.7070813403328473,5.052587210784986e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-2.992216316051059e-17,1.0178953876990849e-17,-7.397079902274959e-08],"object_linear_velocity_m_s":[-1.0207553245230909e-17,-3.524435820394841e-17,1.121549524072543e-14],"object_angular_velocity_rad_s":[1.1778124693568514e-15,-3.075844162000518e-16,-6.547030108963476e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313519840230279,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6994615957245212,-1.5681884749602133,1.2929527401364378,-1.3211186560679986,-1.5708948456316838,-0.1285852174453199,0.0],"actuator_force":[1.2929872153213182,-21.136660122343073,-20.33610005719038,-2.402313924395912,0.06848300364208626,0.16771009627461808,-0.2932443768979002],"issued_joint_targets_rad":[-1.702939253015306,-1.5579974793699167,1.3033785310212842,-1.3161673623547887,-1.5708960585553575,-0.1320588224894027],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.460000000000158,"joint_targets_rad":[-1.702939253015306,-1.5579974793699167,1.3033785310212842,-1.3161673623547887,-1.5708960585553575,-0.1320588224894027],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.480000000000165,"qpos":[-1.669893357846772,-1.5531689062268532,1.2996852854181133,-1.3173646521892954,-1.5708887753595475,-0.09902392852465172,0.0029335292102438256,0.00015647404847946546,0.0031940857997239534,-0.0034284910352868395,0.002933585338729123,0.00015608113136744361,0.0031964191607147074,-0.0034387806372852786,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-4.385111710641705e-17,-4.714999513804859e-18,-7.440309850741822e-08],"qvel":[-0.16844299543396585,-0.024145124662585844,0.018429597981415986,0.005894381520977854,-0.0007152090194276924,-0.16685167028315062,-1.4167800846711752e-05,2.0139239664509302e-05,0.0001499867027916576,0.00018715747873862895,-8.297171755915812e-06,-2.7205465702773312e-05,-0.00017829563066688606,-0.00014063618517719842,8.36783009770898e-18,-5.626619562684381e-17,1.1126677398755418e-14,9.732375798266234e-17,-1.011990752277759e-15,-2.6317006680624337e-08],"joint_position_rad":[-1.669893357846772,-1.5531689062268532,1.2996852854181133,-1.3173646521892954,-1.5708887753595475,-0.09902392852465172],"joint_velocity_rad_s":[-0.16844299543396585,-0.024145124662585844,0.018429597981415986,0.005894381520977854,-0.0007152090194276924,-0.16685167028315062],"linkage_position_rad":[0.0029335292102438256,0.00015647404847946546,0.0031940857997239534,-0.0034284910352868395,0.002933585338729123,0.00015608113136744361,0.0031964191607147074,-0.0034387806372852786],"tcp_position_m":[-0.08513991566220129,0.49784384835556295,0.4304440561865465],"tcp_quaternion_wxyz":[1.9298440352733356e-05,0.707132626215494,0.7070809332249679,4.938477981160152e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-4.385111710641705e-17,-4.714999513804859e-18,-7.440309850741822e-08],"object_linear_velocity_m_s":[8.36783009770898e-18,-5.626619562684381e-17,1.1126677398755418e-14],"object_angular_velocity_rad_s":[9.732360764033527e-17,-1.0119907690681874e-15,-2.6317006680624367e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313519666880898,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7029353140178294,-1.5685581711021435,1.2932043906593116,-1.3209897985307717,-1.5708949694745158,-0.13205882451365766,0.0],"actuator_force":[1.2932858314716213,-21.120479885546047,-20.333628710169705,-2.4020113228359605,0.06842384445860716,0.16771903381209086,-0.29324340258563425],"issued_joint_targets_rad":[-1.706412005506896,-1.5583639572460077,1.3036149602093285,-1.316037923693467,-1.5708961231214151,-0.13553157322906312],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.480000000000165,"joint_targets_rad":[-1.706412005506896,-1.5583639572460077,1.3036149602093285,-1.316037923693467,-1.5708961231214151,-0.13553157322906312],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.500000000000171,"qpos":[-1.6733663613045267,-1.5536673501539642,1.300060038365658,-1.3172376607353318,-1.5708898094940136,-0.10249588359446944,0.0029335299034075808,0.00015647304237042793,0.003194091184770544,-0.003428489651990096,0.0029335862331426716,0.00015608217034315656,0.0031964328631673327,-0.003438776952841613,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-3.0235110370952724e-17,-3.8604592659613315e-18,-7.455435368751906e-08],"qvel":[-0.16844299968915927,-0.023470001536228392,0.01773316886790484,0.005903650953702907,-0.000709953359123129,-0.16685568961470382,-1.429192551540805e-05,2.006325949366106e-05,0.00015025983795191556,0.00018743902888822806,-8.383576572614296e-06,-2.7092827619320807e-05,-0.0001772999492406671,-0.0001402207217206874,-2.6325837101465528e-17,-4.6969959949069565e-17,1.1147494080467145e-14,1.0289685686338e-15,3.450486739668124e-15,-1.0578610898389695e-07],"joint_position_rad":[-1.6733663613045267,-1.5536673501539642,1.300060038365658,-1.3172376607353318,-1.5708898094940136,-0.10249588359446944],"joint_velocity_rad_s":[-0.16844299968915927,-0.023470001536228392,0.01773316886790484,0.005903650953702907,-0.000709953359123129,-0.16685568961470382],"linkage_position_rad":[0.0029335299034075808,0.00015647304237042793,0.003194091184770544,-0.003428489651990096,0.0029335862331426716,0.00015608217034315656,0.0031964328631673327,-0.003438776952841613],"tcp_position_m":[-0.08343314781412764,0.49791287776024534,0.4304943440091077],"tcp_quaternion_wxyz":[2.0912265392250957e-05,0.7071329968302632,0.7070805626076105,4.836354661933016e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-3.0235110370952724e-17,-3.8604592659613315e-18,-7.455435368751906e-08],"object_linear_velocity_m_s":[-2.6325837101465528e-17,-4.6969959949069565e-17,1.1147494080467145e-14],"object_angular_velocity_rad_s":[1.028969083948173e-15,3.450486579843007e-15,-1.0578610898389707e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313519497775054,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.706408173730248,-1.5689138005344465,1.293441096545056,-1.3208603530041723,-1.5708950717702306,-0.13553157526007195,0.0],"actuator_force":[1.2935750242213544,-21.104900146473028,-20.33115118836531,-2.401711229790635,0.06836419780393044,0.16772312866913808,-0.2932424293170725],"issued_joint_targets_rad":[-1.7098838125386673,-1.558716063234432,1.3038364463362981,-1.315907911981269,-1.5708961681272788,-0.13900338088503045],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.500000000000171,"joint_targets_rad":[-1.7098838125386673,-1.558716063234432,1.3038364463362981,-1.315907911981269,-1.5708961681272788,-0.13900338088503045],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.520000000000178,"qpos":[-1.6768392702589912,-1.5541518336494682,1.3004201678296703,-1.3171103853937272,-1.5708907519314972,-0.10596783759090715,0.0029335301630817514,0.00015647202378772909,0.00319409612339827,-0.003428487859337186,0.002933586696584356,0.0001560832251430978,0.00319644621125176,-0.0034387728463548517,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-1.8935029311042385e-17,9.069296785744378e-18,-7.495546251842361e-08],"qvel":[-0.1684387258080235,-0.02279278493298772,0.017035136204201756,0.0059143820474803896,-0.0007050519059329265,-0.16685495106436038,-1.4411767374919083e-05,1.99859481147578e-05,0.0001505319972870819,0.0001877148849625866,-8.465425081094276e-06,-2.6978828562236943e-05,-0.0001762953292229359,-0.00013980839816078524,-8.180468554724735e-18,-2.4980332434384593e-17,1.1103085159482133e-14,9.781733212614602e-16,3.7405881047625434e-16,-1.144790095989359e-08],"joint_position_rad":[-1.6768392702589912,-1.5541518336494682,1.3004201678296703,-1.3171103853937272,-1.5708907519314972,-0.10596783759090715],"joint_velocity_rad_s":[-0.1684387258080235,-0.02279278493298772,0.017035136204201756,0.0059143820474803896,-0.0007050519059329265,-0.16685495106436038],"linkage_position_rad":[0.0029335301630817514,0.00015647202378772909,0.00319409612339827,-0.003428487859337186,0.002933586696584356,0.0001560832251430978,0.00319644621125176,-0.0034387728463548517],"tcp_position_m":[-0.08172636707333682,0.49798197732061944,0.4305447155600511],"tcp_quaternion_wxyz":[2.2364424643046e-05,0.7071333344143698,0.707080225015738,4.745039226954256e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-1.8935029311042385e-17,9.069296785744378e-18,-7.495546251842361e-08],"object_linear_velocity_m_s":[-8.180468554724735e-18,-2.4980332434384593e-17,1.1103085159482133e-14],"object_angular_velocity_rad_s":[9.781733771293039e-16,3.7405866340385045e-16,-1.1447900959893603e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313519332094523,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.709880088105719,-1.569255351197312,1.293662861141053,-1.320730335694903,-1.5708951542560043,-0.13900338292222006,0.0],"actuator_force":[1.2938546297532412,-21.089921122492342,-20.328667858915196,-2.401413355335876,0.06830402833963944,0.16772244077958476,-0.29324145702102533],"issued_joint_targets_rad":[-1.713354587444291,-1.5590537846765753,1.3040429922104098,-1.3157773427223842,-1.5708961951256677,-0.14247415876489664],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.520000000000178,"joint_targets_rad":[-1.713354587444291,-1.5590537846765753,1.3040429922104098,-1.3157773427223842,-1.5708961951256677,-0.14247415876489664],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.540000000000185,"qpos":[-1.6803119961620006,-1.5546223156634353,1.3007656436126647,-1.3169827998800123,-1.5708916097196028,-0.1094396931113488,0.002933530068012138,0.00015647099296813653,0.003194100692166466,-0.0034284857325229093,0.0029335868077063273,0.00015608429518965675,0.0031964592791950026,-0.003438768393214493,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,3.56617171539362e-18,1.0010714391059324e-17,-7.532633425636802e-08],"qvel":[-0.16843018272753857,-0.022113620579739833,0.0163356659170052,0.005926363917595432,-0.0007004769475756291,-0.166849508728583,-1.452812131334817e-05,1.990730518418104e-05,0.0001508024123350297,0.00018798581504048082,-8.543509800855579e-06,-2.6863467046581385e-05,-0.00017528252754199424,-0.0001393984541570003,-7.430040808211041e-18,1.572101656559281e-17,1.111973850485151e-14,2.393469857865524e-15,-2.2144935178263028e-16,-4.6016969683392794e-08],"joint_position_rad":[-1.6803119961620006,-1.5546223156634353,1.3007656436126647,-1.3169827998800123,-1.5708916097196028,-0.1094396931113488],"joint_velocity_rad_s":[-0.16843018272753857,-0.022113620579739833,0.0163356659170052,0.005926363917595432,-0.0007004769475756291,-0.166849508728583],"linkage_position_rad":[0.002933530068012138,0.00015647099296813653,0.003194100692166466,-0.0034284857325229093,0.0029335868077063273,0.00015608429518965675,0.0031964592791950026,-0.003438768393214493],"tcp_position_m":[-0.08001957306768345,0.4980511474963198,0.43059517132102854],"tcp_quaternion_wxyz":[2.3670464631902467e-05,0.7071336420988209,0.7070799173197974,4.663468369146662e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,3.56617171539362e-18,1.0010714391059324e-17,-7.532633425636802e-08],"object_linear_velocity_m_s":[-7.430040808211041e-18,1.572101656559281e-17,1.111973850485151e-14],"object_angular_velocity_rad_s":[2.3934698235822385e-15,-2.2144971203704022e-16,-4.6016969683392853e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313519169173375,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7133509704573004,-1.5695828113026808,1.2938696872701163,-1.3205997619800935,-1.5708952185019596,-0.14247416080774977,0.0],"actuator_force":[1.2941245004153643,-21.075543046595158,-20.326179051898634,-2.4011174418001247,0.06824330357926556,0.16771702465781857,-0.29324048563035227],"issued_joint_targets_rad":[-1.7168242436299952,-1.5593771092443018,1.3042346001233496,-1.3156462305811514,-1.5708962055197797,-0.14594382025125419],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.540000000000185,"joint_targets_rad":[-1.7168242436299952,-1.5593771092443018,1.3042346001233496,-1.3156462305811514,-1.5708962055197797,-0.14594382025125419],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.5600000000001915,"qpos":[-1.6837844506407371,-1.555078757930641,1.3010964386201413,-1.3168548818359793,-1.570892389365596,-0.11291135378594454,0.002933529682718101,0.00015646995013375304,0.0031941049536835494,-0.0034284833331863045,0.00293358663094327,0.00015608537996127854,0.0031964721274694396,-0.00343876365524377,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,1.0545351537594602e-17,8.184471857236748e-18,-7.55008166443561e-08],"qvel":[-0.16841737891544356,-0.021432641623415474,0.01563490572888813,0.005939409739670659,-0.0006962027447290921,-0.16683941186621234,-1.4641639481692733e-05,1.9827331152123337e-05,0.00015107045855773486,0.00018825245091585327,-8.618480915475728e-06,-2.6746742616640515e-05,-0.00017426216402410732,-0.00013899026567805112,-8.137205280575433e-18,8.894972254853794e-18,1.1162759647055736e-14,-1.8277886235382224e-16,-6.861217516987665e-17,-4.979838245966302e-09],"joint_position_rad":[-1.6837844506407371,-1.555078757930641,1.3010964386201413,-1.3168548818359793,-1.570892389365596,-0.11291135378594454],"joint_velocity_rad_s":[-0.16841737891544356,-0.021432641623415474,0.01563490572888813,0.005939409739670659,-0.0006962027447290921,-0.16683941186621234],"linkage_position_rad":[0.002933529682718101,0.00015646995013375304,0.0031941049536835494,-0.0034284833331863045,0.00293358663094327,0.00015608537996127854,0.0031964721274694396,-0.00343876365524377],"tcp_position_m":[-0.07831276542339198,0.4981203887439942,0.4306457118164969],"tcp_quaternion_wxyz":[2.4844437495039692e-05,0.7071339227113123,0.707079636693229,4.590682355016868e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,1.0545351537594602e-17,8.184471857236748e-18,-7.55008166443561e-08],"object_linear_velocity_m_s":[-8.137205280575433e-18,8.894972254853794e-18,1.1162759647055736e-14],"object_angular_velocity_rad_s":[-1.8277887279588557e-16,-6.86121474649409e-17,-4.979838245966309e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313519008469927,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7168207341722865,-1.5698961693374252,1.2940615772341666,-1.320468646409327,-1.5708952659271231,-0.14594382229930405,0.0],"actuator_force":[1.294384503078163,-21.0617661642018,-20.3236850635044,-2.400823260640891,0.06818199370934508,0.16770692994147396,-0.2932395150810827],"issued_joint_targets_rad":[-1.720292694580489,-1.5596860249382636,1.3044112718523009,-1.3155145893845097,-1.5708962005776288,-0.14941227880735697],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.5600000000001915,"joint_targets_rad":[-1.720292694580489,-1.5596860249382636,1.3044112718523009,-1.3155145893845097,-1.5708962005776288,-0.14941227880735697],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.580000000000198,"qpos":[-1.6872565454894406,-1.5555211247319918,1.301412528515172,-1.3167266123733008,-1.5708930968751509,-0.116382724186269,0.002933529060062693,0.00015646889549350625,0.0031941089591494523,-0.0034284807118453516,0.00293358621908157,0.00015608647898614298,0.00319648480530967,-0.0034387586831488,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,2.9755102465747656e-18,-3.0773414493199804e-19,-7.592743950324395e-08],"qvel":[-0.16840032243686232,-0.020749969845216584,0.014932986905599082,0.005953354433314382,-0.0006922054078342758,-0.16682470538842079,-1.475285702905281e-05,1.9746027198075088e-05,0.00015133562967287114,0.0001885153145518119,-8.690871973206119e-06,-2.662865572326895e-05,-0.0001732347464858703,-0.0001385833206117739,-1.4484273541986977e-18,2.328936343015753e-18,1.1062839574839473e-14,-5.057321361238633e-16,-2.804236742991226e-16,-2.0017387152079562e-08],"joint_position_rad":[-1.6872565454894406,-1.5555211247319918,1.301412528515172,-1.3167266123733008,-1.5708930968751509,-0.116382724186269],"joint_velocity_rad_s":[-0.16840032243686232,-0.020749969845216584,0.014932986905599082,0.005953354433314382,-0.0006922054078342758,-0.16682470538842079],"linkage_position_rad":[0.002933529060062693,0.00015646889549350625,0.0031941089591494523,-0.0034284807118453516,0.00293358621908157,0.00015608647898614298,0.00319648480530967,-0.0034387586831488],"tcp_position_m":[-0.07660594376556448,0.4981897015180887,0.43069633761265724],"tcp_quaternion_wxyz":[2.5899044337248754e-05,0.7071341788056291,0.707079380583133,4.525814961778671e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,2.9755102465747656e-18,-3.0773414493199804e-19,-7.592743950324395e-08],"object_linear_velocity_m_s":[-1.4484273541986977e-18,2.328936343015753e-18,1.1062839574839473e-14],"object_angular_velocity_rad_s":[-5.057321786952413e-16,-2.8042359738210353e-16,-2.0017387152079588e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313518849543864,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7202892927179714,-1.5701954140661725,1.2942385328168529,-1.3203370027058932,-1.5708952978138693,-0.14941228086018238,0.0],"actuator_force":[1.2946345176833347,-21.048590730274555,-20.321186158877936,-2.4005306096275945,0.06812007142423226,0.16769220188537304,-0.29323854531220184],"issued_joint_targets_rad":[-1.7237598538654437,-1.559980520086298,1.3045730086610643,-1.3153824321236278,-1.5708961814450253,-0.1528794479833605],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.580000000000198,"joint_targets_rad":[-1.7237598538654437,-1.559980520086298,1.3045730086610643,-1.3153824321236278,-1.5708961814450253,-0.1528794479833605],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.600000000000205,"qpos":[-1.6907281926624167,-1.5559493826789652,1.3017138914060702,-1.3165979756610315,-1.5708937377886374,-0.1198537097433255,0.0029335282433585646,0.00015646782924404496,0.0031941127504309594,-0.0034284779099140214,0.002933585615364425,0.0001560875918366104,0.00319649735277497,-0.003438753518517897,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,1.3920534040358756e-18,1.5751212779674204e-18,-7.618978590621814e-08],"qvel":[-0.16837902101769914,-0.020065716757281485,0.01423002583241375,0.005968052571419686,-0.0006884627794796165,-0.16680543030438652,-1.4862213192371356e-05,1.9663395196049847e-05,0.00015159751667270923,0.00018877483650310122,-8.761120945288718e-06,-2.650920759270711e-05,-0.00017220069110992738,-0.00013817719738614287,-1.4944644761460734e-17,4.964802169508967e-18,1.104341067190853e-14,2.8642614372824544e-16,1.213376119221202e-15,-8.04636152029346e-08],"joint_position_rad":[-1.6907281926624167,-1.5559493826789652,1.3017138914060702,-1.3165979756610315,-1.5708937377886374,-0.1198537097433255],"joint_velocity_rad_s":[-0.16837902101769914,-0.020065716757281485,0.01423002583241375,0.005968052571419686,-0.0006884627794796165,-0.16680543030438652],"linkage_position_rad":[0.0029335282433585646,0.00015646782924404496,0.0031941127504309594,-0.0034284779099140214,0.002933585615364425,0.0001560875918366104,0.00319649735277497,-0.003438753518517897],"tcp_position_m":[-0.0748991077186519,0.49825908627160453,0.43074704931660335],"tcp_quaternion_wxyz":[2.684576483955207e-05,0.7071344126881954,0.7070791466837693,4.468084392457449e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,1.3920534040358756e-18,1.5751212779674204e-18,-7.618978590621814e-08],"object_linear_velocity_m_s":[-1.4944644761460734e-17,4.964802169508967e-18,1.104341067190853e-14],"object_angular_velocity_rad_s":[2.8642632836849614e-16,1.2133760757997158e-15,-8.04636152029347e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313518692037524,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7237565596479836,-1.570480534533782,1.29440055528521,-1.3202048437673388,-1.5708953153210037,-0.15287945004058134,0.0],"actuator_force":[1.2948744359459852,-21.036017006720613,-20.31868257468568,-2.4002393102956603,0.0680575117647777,0.1676728818107307,-0.2932375762654612],"issued_joint_targets_rad":[-1.72722563514648,-1.5602605833418812,1.3047198113003131,-1.3152497709547806,-1.5708961491573168,-0.156345241423092],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.600000000000205,"joint_targets_rad":[-1.72722563514648,-1.5602605833418812,1.3047198113003131,-1.3152497709547806,-1.5708961491573168,-0.156345241423092],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.6200000000002115,"qpos":[-1.6941993042682835,-1.5563635005188503,1.3020005075639163,-1.316468958552709,-1.57089431721506,-0.1233242166740512,0.0029335272680936922,0.00015646675157076647,0.0031941163617654187,-0.003428474961340119,0.002933584855216809,0.0001560887181238187,0.003196509802430581,-0.0034387481954715462,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,1.6328072193899609e-18,5.0295407834988934e-18,-7.649487952327626e-08],"qvel":[-0.16835348210483908,-0.01937998459305663,0.013526125435984854,0.005983376493195756,-0.0006849543223724158,-0.16678162412670794,-1.4970068630093635e-05,1.957943768766877e-05,0.00015185579043599208,0.0001890313730148256,-8.829587541348491e-06,-2.6388400310683428e-05,-0.00017116034017195816,-0.0001377715512560086,-4.7418840286460065e-18,2.5068786987110763e-18,1.110447293826291e-14,-1.76473795071573e-16,1.830670997077888e-16,-8.707565733970498e-09],"joint_position_rad":[-1.6941993042682835,-1.5563635005188503,1.3020005075639163,-1.316468958552709,-1.57089431721506,-0.1233242166740512],"joint_velocity_rad_s":[-0.16835348210483908,-0.01937998459305663,0.013526125435984854,0.005983376493195756,-0.0006849543223724158,-0.16678162412670794],"linkage_position_rad":[0.0029335272680936922,0.00015646675157076647,0.0031941163617654187,-0.003428474961340119,0.002933584855216809,0.0001560887181238187,0.003196509802430581,-0.0034387481954715462],"tcp_position_m":[-0.07319225690689718,0.4983285434568218,0.43079784757566686],"tcp_quaternion_wxyz":[2.7694974432740375e-05,0.7071346264420479,0.7070789329126232,4.416785073107609e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,1.6328072193899609e-18,5.0295407834988934e-18,-7.649487952327626e-08],"object_linear_velocity_m_s":[-4.7418840286460065e-18,2.5068786987110763e-18,1.110447293826291e-14],"object_angular_velocity_rad_s":[-1.764737671517698e-16,1.8306712673490586e-16,-8.70756573397051e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313518535660645,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7272224486091425,-1.570751520067489,1.2945476453904003,-1.3200721816653675,-1.5708953194955995,-0.1563452434843653,0.0],"actuator_force":[1.2951041602173063,-21.024045260055118,-20.316174521426092,-2.399949205648795,0.06799429196746587,0.16764900751375933,-0.2932366078846679],"issued_joint_targets_rad":[-1.730689952184602,-1.5605262036825907,1.3048516800069994,-1.315116617199497,-1.5708961046500174,-0.1598095728712957],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.6200000000002115,"joint_targets_rad":[-1.730689952184602,-1.5605262036825907,1.3048516800069994,-1.315116617199497,-1.5708961046500174,-0.1598095728712957],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.640000000000218,"qpos":[-1.6976697925653803,-1.5567634489587538,1.3022723591669987,-1.3163395502492,-1.570894839863769,-0.126794151915555,0.0029335261633457945,0.00015646566264882763,0.003194119821155542,-0.0034284718939383957,0.0029335839676592457,0.0001560898574938428,0.003196522180727916,-0.0034387427420054274,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-2.2617369477930075e-17,9.598296693160518e-18,-7.687506209703276e-08],"qvel":[-0.16832371292311685,-0.018692867201498715,0.012821376466558178,0.0059992146013243056,-0.0006816610129447666,-0.16675332124015776,-1.5076719598792862e-05,1.949415779204818e-05,0.00015211018756914008,0.00018928521959833973,-8.896567352355217e-06,-2.6266236649897932e-05,-0.00017011397476837862,-0.00013736609721564286,-9.556268386623838e-18,-4.019629948503726e-17,1.10753295838665e-14,-1.90870234297485e-15,5.149075483406579e-16,-3.500168195026793e-08],"joint_position_rad":[-1.6976697925653803,-1.5567634489587538,1.3022723591669987,-1.3163395502492,-1.570894839863769,-0.126794151915555],"joint_velocity_rad_s":[-0.16832371292311685,-0.018692867201498715,0.012821376466558178,0.0059992146013243056,-0.0006816610129447666,-0.16675332124015776],"linkage_position_rad":[0.0029335261633457945,0.00015646566264882763,0.003194119821155542,-0.0034284718939383957,0.0029335839676592457,0.0001560898574938428,0.003196522180727916,-0.0034387427420054274],"tcp_position_m":[-0.07148539095474991,0.4983980735260069,0.43084873307695004],"tcp_quaternion_wxyz":[2.845605023399803e-05,0.7071348219484829,0.7070787373887938,4.371280247354197e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-2.2617369477930075e-17,9.598296693160518e-18,-7.687506209703276e-08],"object_linear_velocity_m_s":[-9.556268386623838e-18,-4.019629948503726e-17,1.10753295838665e-14],"object_angular_velocity_rad_s":[-1.908702264479644e-15,5.14907840220583e-16,-3.5001681950267985e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313518380177739,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.730686873348772,-1.5710083602787002,1.2946798033675584,-1.319939027645108,-1.570895311283717,-0.159809574936312,0.0],"actuator_force":[1.2953236024632133,-21.012675759293415,-20.313662185503745,-2.3996601580864763,0.06793039132048762,0.16762061363726843,-0.29323564011549624],"issued_joint_targets_rad":[-1.7341527188480292,-1.560777370408562,1.304968614502986,-1.3149829813440665,-1.5708960487684227,-0.163272356181287],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.640000000000218,"joint_targets_rad":[-1.7341527188480292,-1.560777370408562,1.304968614502986,-1.3149829813440665,-1.5708960487684227,-0.163272356181287],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.660000000000225,"qpos":[-1.7011395699582914,-1.5571492005065588,1.3025294300695236,-1.3162097419938008,-1.5708953100740624,-0.13026342306638727,0.0029335249529409894,0.00015646456264428103,0.0031941231515068714,-0.003428468730517798,0.0029335829764658354,0.00015609100962324601,0.0031965345091315095,-0.0034387371810929088,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-2.2061631779426537e-17,9.350030037087751e-18,-7.700777785585613e-08],"qvel":[-0.16828972052909674,-0.018004450854386015,0.01211585865423687,0.006015469825169204,-0.0006785652404850612,-0.1667205532369868,-1.5182409539088067e-05,1.9407559309839714e-05,0.00015236049902991796,0.00018953662153639329,-8.962303426235455e-06,-2.6142720090061277e-05,-0.00016906182703404105,-0.00013696060164280298,-9.87213249715517e-18,-2.573229680730154e-17,1.0994838414581175e-14,1.0510076639720503e-15,-1.6348786829145466e-16,-3.7877921047021864e-09],"joint_position_rad":[-1.7011395699582914,-1.5571492005065588,1.3025294300695236,-1.3162097419938008,-1.5708953100740624,-0.13026342306638727],"joint_velocity_rad_s":[-0.16828972052909674,-0.018004450854386015,0.01211585865423687,0.006015469825169204,-0.0006785652404850612,-0.1667205532369868],"linkage_position_rad":[0.0029335249529409894,0.00015646456264428103,0.0031941231515068714,-0.003428468730517798,0.0029335829764658354,0.00015609100962324601,0.0031965345091315095,-0.0034387371810929088],"tcp_position_m":[-0.06977850948725561,0.49846767693210003,0.430899706547032],"tcp_quaternion_wxyz":[2.9137466817860527e-05,0.7071350009066064,0.7070785584134689,4.330995290748145e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-2.2061631779426537e-17,9.350030037087751e-18,-7.700777785585613e-08],"object_linear_velocity_m_s":[-9.87213249715517e-18,-2.573229680730154e-17,1.0994838414581175e-14],"object_angular_velocity_rad_s":[1.0510076387215325e-15,-1.6348803033011214e-16,-3.787792104702192e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351822539803,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7341497477224257,-1.5712510450644666,1.2947970289348216,-1.3198053921238229,-1.570895291540103,-0.16327235824976702,0.0],"actuator_force":[1.2955326833698564,-21.00190877406112,-20.311145731098804,-2.3993720475278906,0.06786579102811174,0.16758773200881194,-0.29323467290551464],"issued_joint_targets_rad":[-1.7376138491203852,-1.5610140731408972,1.305070613992892,-1.3148488730384102,-1.5708959822763087,-0.16673350532298722],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.660000000000225,"joint_targets_rad":[-1.7376138491203852,-1.5610140731408972,1.305070613992892,-1.3148488730384102,-1.5708959822763087,-0.16673350532298722],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.6800000000002315,"qpos":[-1.7046085489954044,-1.5575207293271798,1.3027717055922121,-1.3160795267964391,-1.5708957318427854,-0.1337319383342035,0.002933523656403643,0.0001564634517149245,0.0031941263715648768,-0.00342846548976391,0.002933581901113574,0.00015609217421595049,0.0031965468050397317,-0.0034387315315949716,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-8.03282683854327e-18,1.5972821627718694e-17,-7.748000249661929e-08],"qvel":[-0.1682515118617353,-0.017314814974958976,0.011409641751227061,0.006032058234116835,-0.0006756507117533386,-0.16668334922185546,-1.528733866626186e-05,1.931964653915222e-05,0.00015260656028923675,0.00018978578389713656,-9.02699582809708e-06,-2.601785476121369e-05,-0.00016800408867725822,-0.00013655487157956348,-1.8661904000693707e-17,-1.026408721711502e-17,1.0979572847992575e-14,7.627323198425622e-16,-2.1180009212419366e-16,-1.522573570995715e-08],"joint_position_rad":[-1.7046085489954044,-1.5575207293271798,1.3027717055922121,-1.3160795267964391,-1.5708957318427854,-0.1337319383342035],"joint_velocity_rad_s":[-0.1682515118617353,-0.017314814974958976,0.011409641751227061,0.006032058234116835,-0.0006756507117533386,-0.16668334922185546],"linkage_position_rad":[0.002933523656403643,0.0001564634517149245,0.0031941263715648768,-0.00342846548976391,0.002933581901113574,0.00015609217421595049,0.0031965468050397317,-0.0034387315315949716],"tcp_position_m":[-0.0680716121304254,0.4985373541293892,0.43095076875183697],"tcp_quaternion_wxyz":[2.97468828048312e-05,0.7071351648509876,0.7070783944522936,4.295411674295436e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-8.03282683854327e-18,1.5972821627718694e-17,-7.748000249661929e-08],"object_linear_velocity_m_s":[-1.8661904000693707e-17,-1.026408721711502e-17,1.0979572847992575e-14],"object_angular_velocity_rad_s":[7.627322865356149e-16,-2.1180021056180691e-16,-1.5225735709957174e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313518071166986,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.737610985701977,-1.5714795646086197,1.2948993212915367,-1.319671284689063,-1.5708952610369706,-0.16673350739467901,0.0],"actuator_force":[1.2957313315491774,-20.991744572896096,-20.308625301841403,-2.399084769723686,0.06780047408267365,0.16755039194779897,-0.29323370620338907],"issued_joint_targets_rad":[-1.741073257109193,-1.56123630182001,1.3051576771612068,-1.3147143010943763,-1.5708959058638001,-0.17019293439127345],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.6800000000002315,"joint_targets_rad":[-1.741073257109193,-1.56123630182001,1.3051576771612068,-1.3147143010943763,-1.5708959058638001,-0.17019293439127345],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.700000000000238,"qpos":[-1.7080766423674523,-1.5578780111126234,1.302999172332615,-1.3159488991841388,-1.5708961088500468,-0.13719960648924123,0.002933522289734311,0.000156462330011148,0.003194129496676024,-0.0034284621869952814,0.0029335807575597977,0.0001560933509996658,0.0031965590825359935,-0.0034387258089998932,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-8.020895138616703e-18,1.794240012009524e-17,-7.777792197740845e-08],"qvel":[-0.1682090937899563,-0.016624032795488096,0.010702786471216981,0.006048907786406982,-0.0006729023609012236,-0.166641736088991,-1.5391671741578234e-05,1.9230424363008194e-05,0.0001528482437563335,0.00019003287773635961,-9.090809405354941e-06,-2.5891645448425145e-05,-0.00016694091922092436,-0.0001361487490027681,-4.0171701290287265e-17,-1.921561517601111e-17,1.0997613972142738e-14,-9.191783527445802e-16,9.76698657722616e-16,-6.120267995218752e-08],"joint_position_rad":[-1.7080766423674523,-1.5578780111126234,1.302999172332615,-1.3159488991841388,-1.5708961088500468,-0.13719960648924123],"joint_velocity_rad_s":[-0.1682090937899563,-0.016624032795488096,0.010702786471216981,0.006048907786406982,-0.0006729023609012236,-0.166641736088991],"linkage_position_rad":[0.002933522289734311,0.000156462330011148,0.003194129496676024,-0.0034284621869952814,0.0029335807575597977,0.0001560933509996658,0.0031965590825359935,-0.0034387258089998932],"tcp_position_m":[-0.06636469851158476,0.49860710557417603,0.43100192049665875],"tcp_quaternion_wxyz":[3.0291219144057086e-05,0.7071353151675996,0.7070782441194459,4.264061515017643e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-8.020895138616703e-18,1.794240012009524e-17,-7.777792197740845e-08],"object_linear_velocity_m_s":[-4.0171701290287265e-17,-1.921561517601111e-17,1.0997613972142738e-14],"object_angular_velocity_rad_s":[-9.191782030096326e-16,9.7669879972437e-16,-6.120267995218761e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313517917359593,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7410705013840289,-1.5716939093825797,1.2949866791156994,-1.319536714096313,-1.5708952204719406,-0.1701929364659496,0.0],"actuator_force":[1.295919482829504,-20.98218342171731,-20.306101022317762,-2.398798234727792,0.06773442514327144,0.16750862054492188,-0.2932327399589707],"issued_joint_targets_rad":[-1.7445308570546412,-1.5614440467038668,1.3052298021686584,-1.3145792734834694,-1.5708958201544918,-0.1736505576146244],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.700000000000238,"joint_targets_rad":[-1.7445308570546412,-1.5614440467038668,1.3052298021686584,-1.3145792734834694,-1.5708958201544918,-0.1736505576146244],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.720000000000245,"qpos":[-1.7115437629069736,-1.5582210229645037,1.3032118179931913,-1.3158178549751756,-1.5708964444831544,-0.14066633682308033,0.002933520866047597,0.00015646119767681068,0.003194132539414551,-0.0034284588347633853,0.0029335795588796114,0.00015609453972356644,0.0031965713530063503,-0.0034387200260258214,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-9.035358120836898e-18,1.563162287050004e-17,-7.80099839715554e-08],"qvel":[-0.1681624731572219,-0.015932171950474916,0.009995345335688332,0.006065957200400622,-0.0006703062646196963,-0.1665957387741577,-1.549554448319691e-05,1.9139898191808985e-05,0.00015308545234355667,0.0001902780470852505,-9.153880171540651e-06,-2.576409748369625e-05,-0.0001658724514465568,-0.0001357421024781792,-1.945650453083557e-17,-1.0634643933387654e-17,1.0969858396527106e-14,4.07413038755304e-16,-5.089735869160355e-16,-6.623196800625403e-09],"joint_position_rad":[-1.7115437629069736,-1.5582210229645037,1.3032118179931913,-1.3158178549751756,-1.5708964444831544,-0.14066633682308033],"joint_velocity_rad_s":[-0.1681624731572219,-0.015932171950474916,0.009995345335688332,0.006065957200400622,-0.0006703062646196963,-0.1665957387741577],"linkage_position_rad":[0.002933520866047597,0.00015646119767681068,0.003194132539414551,-0.0034284588347633853,0.0029335795588796114,0.00015609453972356644,0.0031965713530063503,-0.0034387200260258214],"tcp_position_m":[-0.06465776825970668,0.4986769317254384,0.4310531626263374],"tcp_quaternion_wxyz":[3.077672988301979e-05,0.7071354531082187,0.707078106163254,4.236522656161512e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-9.035358120836898e-18,1.563162287050004e-17,-7.80099839715554e-08],"object_linear_velocity_m_s":[-1.945650453083557e-17,-1.0634643933387654e-17,1.0969858396527106e-14],"object_angular_velocity_rad_s":[4.0741295913819437e-16,-5.089736506002852e-16,-6.623196800625413e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313517763874758,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7445282089985983,-1.5718940701458295,1.2950591005606205,-1.319401688266135,-1.5708951704752334,-0.1736505596920797,0.0],"actuator_force":[1.2960970796393667,-20.973225582461964,-20.303572999417156,-2.3985123655198777,0.0676676304223065,0.16746244291609003,-0.29323177412308676],"issued_joint_targets_rad":[-1.747986563338589,-1.5616372983661186,1.3052869866478758,-1.3144437973340612,-1.5708957257118858,-0.17710628936400408],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.720000000000245,"joint_targets_rad":[-1.747986563338589,-1.5616372983661186,1.3052869866478758,-1.3144437973340612,-1.5708957257118858,-0.17710628936400408],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.740000000000252,"qpos":[-1.7150098235886284,-1.558549743287792,1.3034096312253942,-1.3156863910746,-1.5708967418588813,-0.1441320391122052,0.00293351939609461,0.00015646005485016418,0.003194135510094968,-0.0034284554433509705,0.0029335783157879297,0.0001560957401555881,0.003196583625640799,-0.0034387141931272614,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-2.0689365008833498e-17,3.183301964352028e-17,-7.844731273224766e-08],"qvel":[-0.16811165682324172,-0.01523929501171096,0.009287363436160271,0.006083154936359002,-0.0006678495622442606,-0.16654538048357226,-1.5599068836149794e-05,1.90480738959882e-05,0.00015331811416069782,0.00019052141400576088,-9.216320566119195e-06,-2.563521680257438e-05,-0.00016479879699677168,-0.0001353348239643354,-4.3583866396432784e-17,-2.673462429358778e-17,1.0840794969914434e-14,-1.6553998871697786e-16,4.230271849463061e-16,-2.6623172881158162e-08],"joint_position_rad":[-1.7150098235886284,-1.558549743287792,1.3034096312253942,-1.3156863910746,-1.5708967418588813,-0.1441320391122052],"joint_velocity_rad_s":[-0.16811165682324172,-0.01523929501171096,0.009287363436160271,0.006083154936359002,-0.0006678495622442606,-0.16654538048357226],"linkage_position_rad":[0.00293351939609461,0.00015646005485016418,0.003194135510094968,-0.0034284554433509705,0.0029335783157879297,0.0001560957401555881,0.003196583625640799,-0.0034387141931272614],"tcp_position_m":[-0.06295082100572921,0.4987468330454876,0.43110449602557516],"tcp_quaternion_wxyz":[3.120906615784168e-05,0.7071355798034218,0.7070779794532063,4.212414225471112e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-2.0689365008833498e-17,3.183301964352028e-17,-7.844731273224766e-08],"object_linear_velocity_m_s":[-4.3583866396432784e-17,-2.673462429358778e-17,1.0840794969914434e-14],"object_angular_velocity_rad_s":[-1.6553992404127642e-16,4.230272098170032e-16,-2.662317288115821e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313517610630777,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7479840229180512,-1.572080037946062,1.295116583250856,-1.3192662142808502,-1.5708951116161716,-0.17710629144405335,0.0],"actuator_force":[1.2962640704508885,-20.96487131185586,-20.30104132354063,-2.3982270967610475,0.06760007757929998,0.1674118824331572,-0.29323080864711565],"issued_joint_targets_rad":[-1.7514402904937656,-1.561816047694083,1.3053292276983348,-1.3143078789280833,-1.570895623045216,-0.18056004416195856],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.740000000000252,"joint_targets_rad":[-1.7514402904937656,-1.561816047694083,1.3053292276983348,-1.3143078789280833,-1.570895623045216,-0.18056004416195856],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.760000000000258,"qpos":[-1.7184747375303204,-1.558864151694694,1.3035926014881634,-1.3155545052890383,-1.570897003844156,-0.14759662358592832,0.0029335178886910457,0.00015645890166438015,0.0031941384171878156,-0.0034284520211874227,0.002933577037067218,0.00015609695208013927,0.003196595907842979,-0.0034387083189022657,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-1.821455162983903e-17,2.6860725835767286e-17,-7.860032758146151e-08],"qvel":[-0.16805665170282563,-0.014545459970659773,0.008578879120376947,0.006100458278133074,-0.0006655203807317721,-0.1664906829018657,-1.5702337249907237e-05,1.895495787010477e-05,0.0001535461783017969,0.00019076308199931434,-9.278223719441855e-06,-2.5505009843616232e-05,-0.00016372005021065753,-0.00013492682417313125,-5.647806280392959e-17,-9.076577849569916e-17,1.0793610491367863e-14,-5.218486007906201e-15,4.549642862143403e-16,-1.0701680103977798e-07],"joint_position_rad":[-1.7184747375303204,-1.558864151694694,1.3035926014881634,-1.3155545052890383,-1.570897003844156,-0.14759662358592832],"joint_velocity_rad_s":[-0.16805665170282563,-0.014545459970659773,0.008578879120376947,0.006100458278133074,-0.0006655203807317721,-0.1664906829018657],"linkage_position_rad":[0.0029335178886910457,0.00015645890166438015,0.0031941384171878156,-0.0034284520211874227,0.002933577037067218,0.00015609695208013927,0.003196595907842979,-0.0034387083189022657],"tcp_position_m":[-0.061243856382861464,0.4988168100006311,0.43115592161938887],"tcp_quaternion_wxyz":[3.1593334039650724e-05,0.7071356962743296,0.7070778629682184,4.191392625130831e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-1.821455162983903e-17,2.6860725835767286e-17,-7.860032758146151e-08],"object_linear_velocity_m_s":[-5.647806280392959e-17,-9.076577849569916e-17,1.0793610491367863e-14],"object_angular_velocity_rad_s":[-5.218485942134559e-15,4.549651026652292e-16,-1.0701680103977817e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313517457561643,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7514378576662364,-1.5722518041189886,1.295159124277398,-1.3191302983807536,-1.5708950444090644,-0.18056004624443456,0.0],"actuator_force":[1.2964204092982072,-20.957120860325176,-20.298506069681025,-2.3979423736709577,0.06753175561902935,0.16735696093344643,-0.2932298434830664],"issued_joint_targets_rad":[-1.7548919532131413,-1.56198028588656,1.3053565218805898,-1.3141715236972291,-1.570895512614714,-0.1840117366918979],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.760000000000258,"joint_targets_rad":[-1.7548919532131413,-1.56198028588656,1.3053565218805898,-1.3141715236972291,-1.570895512614714,-0.1840117366918979],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.780000000000265,"qpos":[-1.7219384179950663,-1.559164228917657,1.3037607189193752,-1.3154221961588681,-1.5708972330752797,-0.1510600008982754,0.0029335163510681907,0.00015645773824824477,0.0031941412676639177,-0.003428448575174966,0.002933575729918185,0.0001560981752964984,0.0031966082055665253,-0.003438702410425195,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-3.058998428580256e-17,2.1726449884898167e-17,-7.900610282326332e-08],"qvel":[-0.16799746480202288,-0.01385072067321387,0.007869924609734255,0.006117832505055456,-0.0006633077642512911,-0.1664316663809727,-1.580542623598267e-05,1.8860556934838415e-05,0.00015376961116172957,0.00019100313977029595,-9.33966699190597e-06,-2.5373483584668558e-05,-0.00016263629133280507,-0.00013451802806689286,-2.7288226573202597e-17,-3.497842651081082e-17,1.0783896039902391e-14,6.078210515558164e-16,-6.98696968010978e-16,-1.1581083292652844e-08],"joint_position_rad":[-1.7219384179950663,-1.559164228917657,1.3037607189193752,-1.3154221961588681,-1.5708972330752797,-0.1510600008982754],"joint_velocity_rad_s":[-0.16799746480202288,-0.01385072067321387,0.007869924609734255,0.006117832505055456,-0.0006633077642512911,-0.1664316663809727],"linkage_position_rad":[0.0029335163510681907,0.00015645773824824477,0.0031941412676639177,-0.003428448575174966,0.002933575729918185,0.0001560981752964984,0.0031966082055665253,-0.003438702410425195],"tcp_position_m":[-0.05953687402687512,0.4988868630618369,0.4312074403737014],"tcp_quaternion_wxyz":[3.193414683759051e-05,0.7071358034432107,0.7070777557860368,4.173147911670755e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-3.058998428580256e-17,2.1726449884898167e-17,-7.900610282326332e-08],"object_linear_velocity_m_s":[-2.7288226573202597e-17,-3.497842651081082e-17,1.0783896039902391e-14],"object_angular_velocity_rad_s":[6.078209406499292e-16,-6.986970647626459e-16,-1.1581083292652864e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351730461405,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.754889627927799,-1.5724093602878075,1.2951867201921299,-1.3189939459598852,-1.570894969318532,-0.1840117387766497,0.0],"actuator_force":[1.2965660553441012,-20.94997447101514,-20.295967298384767,-2.397658151014184,0.06746265479910107,0.1672976989101187,-0.29322887858317936],"issued_joint_targets_rad":[-1.758341466359435,-1.5621300044514679,1.3053688652097923,-1.3140347362186686,-1.5708953948363715,-0.18746128180751448],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.780000000000265,"joint_targets_rad":[-1.758341466359435,-1.5621300044514679,1.3053688652097923,-1.3140347362186686,-1.5708953948363715,-0.18746128180751448],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.800000000000272,"qpos":[-1.7254007783935517,-1.559449956730599,1.3039139742189558,-1.3152894628060725,-1.570897431975763,-0.1545220821034668,0.0029335147891602848,0.00015645656472693,0.0031941440672739324,-0.0034284451109678976,0.002933574400246812,0.00015609940961640905,0.0031966205235864436,-0.0034386964735192136,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-1.1626882940620383e-17,1.691124392625576e-17,-7.938128920049295e-08],"qvel":[-0.1679341032516618,-0.013155127211369555,0.007160526554466233,0.006135250145432433,-0.0006612016081914667,-0.16636835011154413,-1.5908399276608484e-05,1.876487833167364e-05,0.00015398839359818817,0.0001912416640025535,-9.400714878417722e-06,-2.5240645522708806e-05,-0.0001615475898138658,-0.00013410837456311278,-2.6126788609107027e-17,-1.255584794927273e-17,1.0849121642599121e-14,2.1342946636661208e-15,-3.300863652358935e-16,-4.655232087052343e-08],"joint_position_rad":[-1.7254007783935517,-1.559449956730599,1.3039139742189558,-1.3152894628060725,-1.570897431975763,-0.1545220821034668],"joint_velocity_rad_s":[-0.1679341032516618,-0.013155127211369555,0.007160526554466233,0.006135250145432433,-0.0006612016081914667,-0.16636835011154413],"linkage_position_rad":[0.0029335147891602848,0.00015645656472693,0.0031941440672739324,-0.0034284451109678976,0.002933574400246812,0.00015609940961640905,0.0031966205235864436,-0.0034386964735192136],"tcp_position_m":[-0.0578298735763897,0.4989569927054129,0.4312590532960586],"tcp_quaternion_wxyz":[3.22356723825501e-05,0.7071359021430559,0.707077657073669,4.157400528041293e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-1.1626882940620383e-17,1.691124392625576e-17,-7.938128920049295e-08],"object_linear_velocity_m_s":[-2.6126788609107027e-17,-1.255584794927273e-17,1.0849121642599121e-14],"object_angular_velocity_rad_s":[2.13429460968622e-15,-3.3008670516453046e-16,-4.655232087052351e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313517151744893,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7583392485576343,-1.572552698362336,1.2951993670015454,-1.318857161561354,-1.5708948867643207,-0.1874612838944057,0.0],"actuator_force":[1.296700972499366,-20.943432378925536,-20.293425056607703,-2.3973743921840196,0.06739276654025161,0.16723411568497681,-0.2932279138995797],"issued_joint_targets_rad":[-1.7617887449747316,-1.5622651952032656,1.3053662531484977,-1.3138975202103014,-1.570895270086247,-0.19090859454232717],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.800000000000272,"joint_targets_rad":[-1.7617887449747316,-1.5622651952032656,1.3053662531484977,-1.3138975202103014,-1.570895270086247,-0.19090859454232717],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.820000000000278,"qpos":[-1.7288617322873334,-1.5597213178775464,1.3040523585424644,-1.3151563047962043,-1.5708976027728632,-0.15798277863466215,0.0029335132078402502,0.00015645538122247178,0.0031941468207766933,-0.003428441633196275,0.002933573052899874,0.00015610065486328578,0.003196632865724664,-0.003438690512989822,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,-1.2046407093779926e-18,1.037543984787588e-17,-7.955780147776286e-08],"qvel":[-0.1678665743383542,-0.012458726275860295,0.006450706532584315,0.006152690303601046,-0.0006591925974228916,-0.16630075227851376,-1.6011309106111617e-05,1.866792977859238e-05,0.00015420251890527838,0.00019147872211054654,-9.461421265312355e-06,-2.5106503469134608e-05,-0.000160454005440143,-0.0001336978108712329,-1.4420438823162957e-17,-4.863272902263777e-18,1.0800549385271769e-14,3.9159123266494726e-16,-6.348634658889652e-16,-5.037772576171179e-09],"joint_position_rad":[-1.7288617322873334,-1.5597213178775464,1.3040523585424644,-1.3151563047962043,-1.5708976027728632,-0.15798277863466215],"joint_velocity_rad_s":[-0.1678665743383542,-0.012458726275860295,0.006450706532584315,0.006152690303601046,-0.0006591925974228916,-0.16630075227851376],"linkage_position_rad":[0.0029335132078402502,0.00015645538122247178,0.0031941468207766933,-0.003428441633196275,0.002933573052899874,0.00015610065486328578,0.003196632865724664,-0.003438690512989822],"tcp_position_m":[-0.056122854673149244,0.4990271994136909,0.4313107614364798],"tcp_quaternion_wxyz":[3.250167577960914e-05,0.7071359931262272,0.7070775660787404,4.14389835281092e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,-1.2046407093779926e-18,1.037543984787588e-17,-7.955780147776286e-08],"object_linear_velocity_m_s":[-1.4420438823162957e-17,-4.863272902263777e-18,1.0800549385271769e-14],"object_angular_velocity_rad_s":[3.915911315437216e-16,-6.348635282093708e-16,-5.0377725761711885e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313516998919338,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7617866345904594,-1.5726818105377876,1.2951970601597407,-1.3187199488722414,-1.5708947971256577,-0.19090859663123466,0.0],"actuator_force":[1.296825129089484,-20.937494810138105,-20.29087937848135,-2.3970910683786997,0.06732208334494771,0.16716622956511173,-0.2932269493851491],"issued_joint_targets_rad":[-1.7652337042901802,-1.562385850260141,1.3053486805987204,-1.3137598785255202,-1.5708951387043593,-0.1943535901193104],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.820000000000278,"joint_targets_rad":[-1.7652337042901802,-1.562385850260141,1.3053486805987204,-1.3137598785255202,-1.5708951387043593,-0.1943535901193104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.840000000000285,"qpos":[-1.7323211933926335,-1.5599782960079323,1.3041758634040868,-1.3150227220130837,-1.5708977475129193,-0.16144200228566363,0.002933511611112602,0.00015645418785418792,0.0031941495321256047,-0.0034284381456535055,0.002933571691857585,0.00015610191087006472,0.003196645235027853,-0.003438684532801295,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,8.396311786903589e-18,-3.0466928231583034e-18,-7.9989387572073e-08],"qvel":[-0.16779488553306277,-0.011761561473449965,0.005740481497713588,0.0061701380537340185,-0.0006572721485648963,-0.16622889020214798,-1.6114199830920435e-05,1.856971932387095e-05,0.00015441199006051125,0.00019171437254142436,-9.521831560066012e-06,-2.4971065921107757e-05,-0.00015935559163148723,-0.00013328629453256594,1.1540182430531202e-18,5.973543233915326e-18,1.076307935819067e-14,2.065426372373771e-16,-4.836232089104823e-16,-2.025026498060278e-08],"joint_position_rad":[-1.7323211933926335,-1.5599782960079323,1.3041758634040868,-1.3150227220130837,-1.5708977475129193,-0.16144200228566363],"joint_velocity_rad_s":[-0.16779488553306277,-0.011761561473449965,0.005740481497713588,0.0061701380537340185,-0.0006572721485648963,-0.16622889020214798],"linkage_position_rad":[0.002933511611112602,0.00015645418785418792,0.0031941495321256047,-0.0034284381456535055,0.002933571691857585,0.00015610191087006472,0.003196645235027853,-0.003438684532801295],"tcp_position_m":[-0.05441581696228917,0.4990974836757305,0.43136256588843236],"tcp_quaternion_wxyz":[3.2735558058719194e-05,0.707136077072269,0.7070774821216839,4.1324140367858124e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,8.396311786903589e-18,-3.0466928231583034e-18,-7.9989387572073e-08],"object_linear_velocity_m_s":[1.1540182430531202e-18,5.973543233915326e-18,1.076307935819067e-14],"object_angular_velocity_rad_s":[2.0654255999131899e-16,-4.836232416128601e-16,-2.025026498060282e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313516846109153,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.765231701250466,-1.5727966892931902,1.2951797945606396,-1.3185823107180452,-1.5708947007451926,-0.19435359221012277,0.0],"actuator_force":[1.2969384975599496,-20.932161981136232,-20.28833028598001,-2.3968081578541387,0.06725059871985195,0.16709405798522425,-0.29322598499155444],"issued_joint_targets_rad":[-1.7686762597357553,-1.5624919620409563,1.3053161418932486,-1.3136218131475172,-1.5708950009982066,-0.19779618396059118],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.840000000000285,"joint_targets_rad":[-1.7686762597357553,-1.5624919620409563,1.3053161418932486,-1.3136218131475172,-1.5708950009982066,-0.19779618396059118],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.860000000000292,"qpos":[-1.7357790755846703,-1.5602208756178841,1.3042844805880556,-1.3148887145449524,-1.5708978680755514,-0.16489966519530252,0.0029335100022718982,0.0001564529847393848,0.0031941522046235074,-0.00342843465144286,0.0029335703203918527,0.00015610317747863104,0.003196657633920522,-0.0034386785362308524,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,7.766598573371144e-18,-4.934270760869642e-18,-8.025478605473077e-08],"qvel":[-0.1677190445173964,-0.011063673612280731,0.005029864180823829,0.006187583893787074,-0.0006554323560655152,-0.1661527804658892,-1.6217108360269685e-05,1.8470255438900708e-05,0.00015461681895805225,0.0001919486684506017,-9.581984090721727e-06,-2.483434163036878e-05,-0.00015825239533031804,-0.00013287378779694732,7.762347709052492e-18,1.5404574270959416e-17,1.0743650455259725e-14,4.3977694020649517e-16,-6.920215926572479e-16,-8.139971100010027e-08],"joint_position_rad":[-1.7357790755846703,-1.5602208756178841,1.3042844805880556,-1.3148887145449524,-1.5708978680755514,-0.16489966519530252],"joint_velocity_rad_s":[-0.1677190445173964,-0.011063673612280731,0.005029864180823829,0.006187583893787074,-0.0006554323560655152,-0.1661527804658892],"linkage_position_rad":[0.0029335100022718982,0.0001564529847393848,0.0031941522046235074,-0.00342843465144286,0.0029335703203918527,0.00015610317747863104,0.003196657633920522,-0.0034386785362308524],"tcp_position_m":[-0.05270876009260244,0.4991678459880401,0.43141446778993664],"tcp_quaternion_wxyz":[3.2940391120508505e-05,0.7071361545949598,0.7070774045886931,4.122742598370946e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,7.766598573371144e-18,-4.934270760869642e-18,-8.025478605473077e-08],"object_linear_velocity_m_s":[7.762347709052492e-18,1.5404574270959416e-17,1.0743650455259725e-14],"object_angular_velocity_rad_s":[4.397768299336972e-16,-6.920216619812512e-16,-8.139971100010042e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313516693291367,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7686743639610454,-1.572897327389445,1.2951475645294608,-1.3184442490567005,-1.5708945979325586,-0.1977961860532078,0.0],"actuator_force":[1.2970410542079662,-20.927434098209687,-20.285777789519216,-2.3965256452528365,0.06717830710306316,0.16701761763627587,-0.2932250206709326],"issued_joint_targets_rad":[-1.772116326950048,-1.5625835232619127,1.3052686307861816,-1.3134833251831028,-1.5708948572459491,-0.20123629169718893],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.860000000000292,"joint_targets_rad":[-1.772116326950048,-1.5625835232619127,1.3052686307861816,-1.3134833251831028,-1.5708948572459491,-0.20123629169718893],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.880000000000298,"qpos":[-1.7392352929024961,-1.5604490419969026,1.3043782020676353,-1.3147542825809426,-1.5708979661868088,-0.16835567983425476,0.0029335083840321603,0.00015645177199354458,0.0031941548410455317,-0.003428431153104451,0.0029335689411954997,0.00015610445453811617,0.0031966700643206738,-0.0034386725259977083,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,6.550353882967407e-18,-5.3231098546010456e-18,-8.056342906305042e-08],"qvel":[-0.1676390592076368,-0.010365100958181123,0.004318863449990025,0.006205023253979952,-0.0006536659419005862,-0.16607243903214242,-1.6320065821439648e-05,1.836954695074778e-05,0.00015481702467768762,0.00019218165723821834,-9.641911524837194e-06,-2.469633980629894e-05,-0.0001571444592513359,-0.00013246025976715382,6.436528805781977e-18,8.30547874515903e-18,1.0757528243067542e-14,-2.367048109108018e-16,3.938002664058787e-16,-8.808867616399703e-09],"joint_position_rad":[-1.7392352929024961,-1.5604490419969026,1.3043782020676353,-1.3147542825809426,-1.5708979661868088,-0.16835567983425476],"joint_velocity_rad_s":[-0.1676390592076368,-0.010365100958181123,0.004318863449990025,0.006205023253979952,-0.0006536659419005862,-0.16607243903214242],"linkage_position_rad":[0.0029335083840321603,0.00015645177199354458,0.0031941548410455317,-0.003428431153104451,0.0029335689411954997,0.00015610445453811617,0.0031966700643206738,-0.0034386725259977083],"tcp_position_m":[-0.0510016837167964,0.4992382868553187,0.43146646832479807],"tcp_quaternion_wxyz":[3.311894933007387e-05,0.707136226248686,0.7070773329253506,4.114699252849244e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999978,6.550353882967407e-18,-5.3231098546010456e-18,-8.056342906305042e-08],"object_linear_velocity_m_s":[6.436528805781977e-18,8.30547874515903e-18,1.0757528243067542e-14],"object_angular_velocity_rad_s":[-2.367047473652184e-16,3.938003046607793e-16,-8.808867616399721e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313516540447266,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.772114538354544,-1.5729837178670036,1.295100363813397,-1.3183057649721392,-1.5708944889675955,-0.2012362937915187,0.0],"actuator_force":[1.297132778959167,-20.92331135692939,-20.28322188847278,-2.396243520996336,0.06710520379670015,0.1669369245822594,-0.2932240563746516],"issued_joint_targets_rad":[-1.7755538217900648,-1.5626605269329237,1.3052061404426638,-1.3133444148560458,-1.5708947076992843,-0.20467382917875965],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.880000000000298,"joint_targets_rad":[-1.7755538217900648,-1.5626605269329237,1.3052061404426638,-1.3133444148560458,-1.5708947076992843,-0.20467382917875965],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.900000000000305,"qpos":[-1.7426897595542805,-1.5606627811793616,1.3044570199308587,-1.31461942631683,-1.5708980434313369,-0.1718099589940542,0.0029335067586334124,0.00015645054973092743,0.003194157443741811,-0.0034284276527177873,0.002933567556488649,0.00015610574190427938,0.0031966825277419714,-0.0034386665043559203,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999978,1.3512046190061873e-17,1.236451732923925e-17,-8.094803459628432e-08],"qvel":[-0.16755493777664307,-0.00966587946475123,0.0036074846321733577,0.006222456054552305,-0.0006519662086746595,-0.1659878813469864,-1.642309861185163e-05,1.8267603017649418e-05,0.00015501263233454434,0.00019241338245698603,-9.701641910344526e-06,-2.4557070099128788e-05,-0.0001560318226502024,-0.0001320456832687228,-2.292825871113577e-17,2.2359815598657615e-17,1.0794998270148639e-14,5.429774811596282e-16,1.3481466199454316e-15,-3.5408883730660456e-08],"joint_position_rad":[-1.7426897595542805,-1.5606627811793616,1.3044570199308587,-1.31461942631683,-1.5708980434313369,-0.1718099589940542],"joint_velocity_rad_s":[-0.16755493777664307,-0.00966587946475123,0.0036074846321733577,0.006222456054552305,-0.0006519662086746595,-0.1659878813469864],"linkage_position_rad":[0.0029335067586334124,0.00015645054973092743,0.003194157443741811,-0.0034284276527177873,0.002933567556488649,0.00015610574190427938,0.0031966825277419714,-0.0034386665043559203],"tcp_position_m":[-0.04929458749175123,0.4993088067912228,0.4315185687239689],"tcp_quaternion_wxyz":[3.327373808371029e-05,0.7071362925341922,0.7070772666308769,4.108117452483539e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,1.3512046190061858e-17,1.2364517329239236e-17,-8.094803459628423e-08],"object_linear_velocity_m_s":[-2.292825871113577e-17,2.2359815598657615e-17,1.0794998270148639e-14],"object_angular_velocity_rad_s":[5.42977698543632e-16,1.3481465329963868e-15,-3.540888373066045e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351638756145,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7755521402820302,-1.57305585404316,1.2950381855714805,-1.318166858667397,-1.570894374103261,-0.20467383127472003,0.0],"actuator_force":[1.2972136551579752,-20.919793941696298,-20.280662571625726,-2.3959617807386167,0.06703128490539711,0.16685199436572873,-0.2932230920534921],"issued_joint_targets_rad":[-1.7789886603410239,-1.5627229663536675,1.3051286634277834,-1.3132050814999112,-1.5708945525860456,-0.20810871248335047],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.900000000000305,"joint_targets_rad":[-1.7789886603410239,-1.5627229663536675,1.3051286634277834,-1.3132050814999112,-1.5708945525860456,-0.20810871248335047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.920000000000312,"qpos":[-1.7461423899230124,-1.5608620799003516,1.304520926312298,-1.3144841458691294,-1.5708981012636263,-0.1752624157780943,0.0029335051279286073,0.00015644931806460237,0.003194160014720938,-0.0034284241519815226,0.0029335661681054964,0.00015610703943848078,0.003196695025371175,-0.0034386604731864337,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,1.1325417825286662e-17,1.384368079527707e-17,-8.10822943407182e-08],"qvel":[-0.16746668867372974,-0.008966042979578542,0.002895729800425786,0.006239886308163898,-0.000650326995953142,-0.16589912243489424,-1.652622926659072e-05,1.8164433189141927e-05,0.00015520367253361257,0.00019264388419234,-9.761199529691333e-06,-2.4416542483704247e-05,-0.00015491452161838683,-0.0001316300347825219,-1.545412639379739e-17,1.371804273623725e-17,1.1534684360305147e-14,-3.051596118091142e-16,-4.3702511893475573e-16,-3.831858435315e-09],"joint_position_rad":[-1.7461423899230124,-1.5608620799003516,1.304520926312298,-1.3144841458691294,-1.5708981012636263,-0.1752624157780943],"joint_velocity_rad_s":[-0.16746668867372974,-0.008966042979578542,0.002895729800425786,0.006239886308163898,-0.000650326995953142,-0.16589912243489424],"linkage_position_rad":[0.0029335051279286073,0.00015644931806460237,0.003194160014720938,-0.0034284241519815226,0.0029335661681054964,0.00015610703943848078,0.003196695025371175,-0.0034386604731864337],"tcp_position_m":[-0.04758747107877296,0.49937940631916267,0.43157077026704443],"tcp_quaternion_wxyz":[3.340701963288189e-05,0.70713635390378,0.7070772052529364,4.102847117826853e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,1.1325417825286662e-17,1.384368079527707e-17,-8.10822943407182e-08],"object_linear_velocity_m_s":[-1.545412639379739e-17,1.371804273623725e-17,1.1534684360305147e-14],"object_angular_velocity_rad_s":[-3.0515968278520287e-16,-4.370250693618722e-16,-3.831858435314999e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351623462118,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7789870858230632,-1.5731137295089397,1.2949610223635986,-1.3180275294572392,-1.5708942535682655,-0.20810871458086672,0.0],"actuator_force":[1.2972836693902536,-20.916882025344876,-20.278099817569455,-2.3956804248713297,0.06695654727582223,0.16676284210321057,-0.29322212765772376],"issued_joint_targets_rad":[-1.782420758926109,-1.5627708351092988,1.3050361916946018,-1.3130653235503844,-1.5708943921125518,-0.21154085792710953],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.920000000000312,"joint_targets_rad":[-1.782420758926109,-1.5627708351092988,1.3050361916946018,-1.3130653235503844,-1.5708943921125518,-0.21154085792710953],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.940000000000318,"qpos":[-1.7495930985725678,-1.5610469255553912,1.3045699133302116,-1.3143484411966875,-1.5708981410184109,-0.1787129635944232,0.0029335034934552615,0.00015644807710722024,0.0031941625557171545,-0.0034284206522902016,0.0029335647775657952,0.00015610834700692029,0.003196707558135149,-0.003438654434060681,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,1.584331895415996e-17,1.80625196843533e-17,-8.156001273788796e-08],"qvel":[-0.16737432064257537,-0.008265623428864754,0.002183598029698731,0.006257321762758776,-0.0006487426396244059,-0.16580617698416547,-1.6629477235369088e-05,1.8060047239075925e-05,0.00015539018010472485,0.00019287319995388587,-9.820605673932506e-06,-2.4274767312971362e-05,-0.0001537925899267815,-0.00013121329325524624,-2.0885683146725023e-17,1.8128336472032136e-17,1.1680401132287202e-14,-2.695345427662777e-16,-3.8117540957062543e-16,-1.5402868531672185e-08],"joint_position_rad":[-1.7495930985725678,-1.5610469255553912,1.3045699133302116,-1.3143484411966875,-1.5708981410184109,-0.1787129635944232],"joint_velocity_rad_s":[-0.16737432064257537,-0.008265623428864754,0.002183598029698731,0.006257321762758776,-0.0006487426396244059,-0.16580617698416547],"linkage_position_rad":[0.0029335034934552615,0.00015644807710722024,0.0031941625557171545,-0.0034284206522902016,0.0029335647775657952,0.00015610834700692029,0.003196707558135149,-0.003438654434060681],"tcp_position_m":[-0.045880334143847526,0.49945008597312723,0.4316230742838908],"tcp_quaternion_wxyz":[3.352083643557954e-05,0.7071364107660004,0.7070771483829422,4.0987530401691466e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,1.584331895415996e-17,1.80625196843533e-17,-8.156001273788796e-08],"object_linear_velocity_m_s":[-2.0885683146725023e-17,1.8128336472032136e-17,1.1680401132287202e-14],"object_angular_velocity_rad_s":[-2.6953460550004584e-16,-3.811753651160737e-16,-1.5402868531672185e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313516081615779,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.782419291295421,-1.5731573381255737,1.294868866138636,-1.3178877757602965,-1.5708941275694523,-0.21154086002611378,0.0],"actuator_force":[1.2973428113236878,-20.91457576881885,-20.275533595030538,-2.395399458080419,0.06688098844165324,0.16666948257126535,-0.2932211631365063],"issued_joint_targets_rad":[-1.785850034116176,-1.5628041270657949,1.3049287165712629,-1.3129251385370542,-1.570894226465729,-0.2149701820739595],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.940000000000318,"joint_targets_rad":[-1.785850034116176,-1.5628041270657949,1.3049287165712629,-1.3129251385370542,-1.570894226465729,-0.2149701820739595],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.960000000000325,"qpos":[-1.7530418002541173,-1.5612173061636099,1.3046039730284598,-1.3142123120289988,-1.570898163920278,-0.18216151615015752,0.0029335018564939533,0.00015644682697093078,0.003194165068247014,-0.003428417154782646,0.0029335633861332488,0.00015610966447981612,0.003196720126751983,-0.003438648388300777,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,1.0004586550416488e-17,1.0752813064314727e-17,-8.186139814763329e-08],"qvel":[-0.16727784273725985,-0.007564650982412741,0.0014710856240165427,0.006274773581060434,-0.0006472079341098494,-0.16570905942400554,-1.6732859443889796e-05,1.7954455327425288e-05,0.0001555721942294223,0.000193101365768365,-9.879879194955366e-06,-2.413175531284534e-05,-0.00015266605989205765,-0.0001307954405287751,-1.1397301913227973e-17,7.326205284305618e-18,1.1705381150341274e-14,-7.044614264547008e-16,-9.281440012964964e-16,-6.191469831391446e-08],"joint_position_rad":[-1.7530418002541173,-1.5612173061636099,1.3046039730284598,-1.3142123120289988,-1.570898163920278,-0.18216151615015752],"joint_velocity_rad_s":[-0.16727784273725985,-0.007564650982412741,0.0014710856240165427,0.006274773581060434,-0.0006472079341098494,-0.16570905942400554],"linkage_position_rad":[0.0029335018564939533,0.00015644682697093078,0.003194165068247014,-0.003428417154782646,0.0029335633861332488,0.00015610966447981612,0.003196720126751983,-0.003438648388300777],"tcp_position_m":[-0.04417317635789239,0.4995208462985469,0.4316754821564174],"tcp_quaternion_wxyz":[3.3617032269304254e-05,0.7071364634898931,0.7070770956518213,4.095713440198101e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,1.0004586550416488e-17,1.0752813064314727e-17,-8.186139814763329e-08],"object_linear_velocity_m_s":[-1.1397301913227973e-17,7.326205284305618e-18,1.1705381150341274e-14],"object_angular_velocity_rad_s":[-7.04461579744537e-16,-9.281438847212274e-16,-6.191469831391446e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313515928536198,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7858486732647854,-1.5731866740205378,1.2947617082216858,-1.3177475950906743,-1.5708939962939512,-0.2149701841743901,0.0],"actuator_force":[1.2973910735681784,-20.912875320890635,-20.272963863154473,-2.3951188889437844,0.06680460657435106,0.16657193028427741,-0.29322019843816594],"issued_joint_targets_rad":[-1.7892764027393853,-1.5628228363649075,1.3048062287471391,-1.3127845230746413,-1.5708940558150275,-0.2183966017451949],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.960000000000325,"joint_targets_rad":[-1.7892764027393853,-1.5628228363649075,1.3048062287471391,-1.3127845230746413,-1.5708940558150275,-0.2183966017451949],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.980000000000332,"qpos":[-1.7564884099128197,-1.5613732103340199,1.30462309732265,-1.314075757800555,-1.570898171092538,-0.1856079874473524,0.002933500218116544,0.00015644556776784813,0.0031941675536549005,-0.003428413660388175,0.0029335619948636284,0.00015611099173098403,0.0031967327317754153,-0.0034386423370201696,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,6.081544649130231e-18,5.619846428524813e-18,-8.209615989938922e-08],"qvel":[-0.16717726433652,-0.006863154200769391,0.0007581863175539148,0.006292256053345736,-0.000645718097243847,-0.16560778399385848,-1.6836390820537038e-05,1.7847667830630864e-05,0.00015574975715063177,0.00019332841611915805,-9.939037024781828e-06,-2.3987517558976134e-05,-0.00015153496231183231,-0.00013037645945400295,-7.430049215322606e-18,6.528474968813058e-18,1.1705381150341274e-14,-1.921264073283666e-16,-5.110867543326815e-16,-6.700249598624848e-09],"joint_position_rad":[-1.7564884099128197,-1.5613732103340199,1.30462309732265,-1.314075757800555,-1.570898171092538,-0.1856079874473524],"joint_velocity_rad_s":[-0.16717726433652,-0.006863154200769391,0.0007581863175539148,0.006292256053345736,-0.000645718097243847,-0.16560778399385848],"linkage_position_rad":[0.002933500218116544,0.00015644556776784813,0.0031941675536549005,-0.003428413660388175,0.0029335619948636284,0.00015611099173098403,0.0031967327317754153,-0.0034386423370201696],"tcp_position_m":[-0.04246599739701378,0.4995916878531931,0.4317279953204912],"tcp_quaternion_wxyz":[3.3697271316716936e-05,0.7071365124088141,0.707077046726183,4.0936186662734554e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,6.081544649130231e-18,5.619846428524813e-18,-8.209615989938922e-08],"object_linear_velocity_m_s":[-7.430049215322606e-18,6.528474968813058e-18,1.1705381150341274e-14],"object_angular_velocity_rad_s":[-1.9212649132019257e-16,-5.1108672270549845e-16,-6.700249598624848e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313515775374547,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7892751485543512,-1.573201731583143,1.2946395393002903,-1.317606984049027,-1.5708938599111204,-0.2183966038469958,0.0],"actuator_force":[1.2974284515448744,-20.911780817938507,-20.27039057174079,-2.3948387295705515,0.06672740043313752,0.16647019956415932,-0.2932192335097821],"issued_joint_targets_rad":[-1.792699781890734,-1.5628269574186942,1.3046687182579522,-1.312643472853626,-1.570893880314154,-0.221820034028985],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.980000000000332,"joint_targets_rad":[-1.792699781890734,-1.5628269574186942,1.3046687182579522,-1.312643472853626,-1.570893880314154,-0.221820034028985],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.000000000000338,"qpos":[-1.7599328426947876,-1.5615146272345393,1.3046272779500054,-1.3139387775905818,-1.5708981635654153,-0.18905229178017977,0.0029334985792254594,0.00015644429961003014,0.0031941700131480656,-0.003428410169870648,0.0029335606046439542,0.00015611232863712188,0.003196745373628897,-0.0034386362811685946,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,7.634634053683892e-19,5.6045695643471495e-18,-8.253857644558308e-08],"qvel":[-0.1670725951562419,-0.006161160166123646,4.4891451790702676e-05,0.006309786340436024,-0.0006442687376801238,-0.1655023648056594,-1.694008466053726e-05,1.7739695477539976e-05,0.0001559229145688564,0.00019355438412451065,-9.998094528704664e-06,-2.384206538887524e-05,-0.000150399326652075,-0.00012995633427543784,-7.687144468000374e-18,9.407800730303205e-19,1.1752565628887843e-14,-3.684508300373785e-16,-1.6060766993353633e-16,-2.693290095112774e-08],"joint_position_rad":[-1.7599328426947876,-1.5615146272345393,1.3046272779500054,-1.3139387775905818,-1.5708981635654153,-0.18905229178017977],"joint_velocity_rad_s":[-0.1670725951562419,-0.006161160166123646,4.4891451790702676e-05,0.006309786340436024,-0.0006442687376801238,-0.1655023648056594],"linkage_position_rad":[0.0029334985792254594,0.00015644429961003014,0.0031941700131480656,-0.003428410169870648,0.0029335606046439542,0.00015611232863712188,0.003196745373628897,-0.0034386362811685946],"tcp_position_m":[-0.04075879694275978,0.4996626112081216,0.4317806152679994],"tcp_quaternion_wxyz":[3.3763055425222905e-05,0.7071365578238948,0.7070770013048646,4.092370019468596e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,7.634634053683892e-19,5.6045695643471495e-18,-8.253857644558308e-08],"object_linear_velocity_m_s":[-7.687144468000374e-18,9.407800730303205e-19,1.1752565628887843e-14],"object_angular_velocity_rad_s":[-3.684508568519251e-16,-1.6060760906959558e-16,-2.6932900951127746e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313515622123947,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7926986342543432,-1.573202505459646,1.2945023494096504,-1.317465938313045,-1.570893718574307,-0.22182003613210513,0.0],"actuator_force":[1.297454943385219,-20.91129238376334,-20.267813661426317,-2.3945589952751334,0.0666493693221355,0.16636430460324902,-0.2932182682975245],"issued_joint_targets_rad":[-1.796120088941486,-1.5628164849036028,1.3045161744698073,-1.3125019826302478,-1.5708937001026342,-0.22524039628977863],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.000000000000338,"joint_targets_rad":[-1.796120088941486,-1.5628164849036028,1.3045161744698073,-1.3125019826302478,-1.5708937001026342,-0.22524039628977863],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.020000000000345,"qpos":[-1.7633750139542674,-1.5616415465634557,1.3046165064224953,-1.313801370067596,-1.570898142283601,-0.19249434373327964,0.0029334969405863526,0.00015644302260993322,0.0031941724478284955,-0.003428406683856072,0.0029335592162250627,0.0001561136750773539,0.003196758052634773,-0.0034386302215578908,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,2.2503069267804437e-19,5.616847991869789e-19,-8.269337143550877e-08],"qvel":[-0.1669638452603629,-0.005458694598421166,-0.0006688098691863974,0.006327384244187804,-0.0006428558246321992,-0.16539281589966276,-1.7043953046293264e-05,1.7630549150811906e-05,0.00015609171432615188,0.00019377930211495517,-1.0057065920813074e-05,-2.3695410512019152e-05,-0.00014925918176557083,-0.00012953505040311626,7.851020679014161e-17,1.0131221596650213e-17,1.162488998105595e-14,-1.9856042821793083e-16,-6.73172976505405e-15,-1.0826181069316231e-07],"joint_position_rad":[-1.7633750139542674,-1.5616415465634557,1.3046165064224953,-1.313801370067596,-1.570898142283601,-0.19249434373327964],"joint_velocity_rad_s":[-0.1669638452603629,-0.005458694598421166,-0.0006688098691863974,0.006327384244187804,-0.0006428558246321992,-0.16539281589966276],"linkage_position_rad":[0.0029334969405863526,0.00015644302260993322,0.0031941724478284955,-0.003428406683856072,0.0029335592162250627,0.0001561136750773539,0.003196758052634773,-0.0034386302215578908],"tcp_position_m":[-0.03905157468238371,0.49973361694866025,0.4318333435490771],"tcp_quaternion_wxyz":[3.3815739709383726e-05,0.7071366000071627,0.7070769591158076,4.091878693043923e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,2.2503069267804437e-19,5.616847991869789e-19,-8.269337143550877e-08],"object_linear_velocity_m_s":[7.851020679014161e-17,1.0131221596650213e-17,1.162488998105595e-14],"object_angular_velocity_rad_s":[-1.985615416784059e-16,-6.731729732165972e-15,-1.0826181069316234e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313515468778147,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7961190477314275,-1.57318899054787,1.2943501279167442,-1.317324452627329,-1.5708935724224329,-0.22524039839417132,0.0],"actuator_force":[1.2974705498245385,-20.91141012945991,-20.265233063827964,-2.3942797042852817,0.06657051304716788,0.16625425952044282,-0.29321730274573526],"issued_joint_targets_rad":[-1.7995372415484554,-1.5627914137540722,1.304348586062067,-1.3123600462158351,-1.5708935153072259,-0.22865760617756503],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.020000000000345,"joint_targets_rad":[-1.7995372415484554,-1.5627914137540722,1.304348586062067,-1.3123600462158351,-1.5708935153072259,-0.22865760617756503],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.040000000000352,"qpos":[-1.7668148392610206,-1.5617539585230447,1.304590773982814,-1.3136635334382516,-1.5708981081132232,-0.19593405818115964,0.0029334953028546974,0.0001564417368804758,0.003194174858717396,-0.003428403202859845,0.0029335578302481526,0.00015611503093289486,0.0031967707690367876,-0.0034386241588939244,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-4.470859272678474e-19,-2.115946816273841e-17,-8.310386737619373e-08],"qvel":[-0.1668510250700983,-0.0047557819579565385,-0.0013829306435620954,0.0063450720030112946,-0.000641475659815441,-0.1652791512942546,-1.7148007042979846e-05,1.7520240055065566e-05,0.00015625620723111518,0.00019400320257194486,-1.0115964453665303e-05,-2.354756491327079e-05,-0.00014811455567440807,-0.00012911259355354067,2.3214437397533995e-17,2.653833702282603e-19,1.161656330837126e-14,-2.4584715557253637e-16,1.2960268827784016e-16,-1.171581503903101e-08],"joint_position_rad":[-1.7668148392610206,-1.5617539585230447,1.304590773982814,-1.3136635334382516,-1.5708981081132232,-0.19593405818115964],"joint_velocity_rad_s":[-0.1668510250700983,-0.0047557819579565385,-0.0013829306435620954,0.0063450720030112946,-0.000641475659815441,-0.1652791512942546],"linkage_position_rad":[0.0029334953028546974,0.0001564417368804758,0.003194174858717396,-0.003428403202859845,0.0029335578302481526,0.00015611503093289486,0.0031967707690367876,-0.0034386241588939244],"tcp_position_m":[-0.03734433030910576,0.49980470567545143,0.43188618177449395],"tcp_quaternion_wxyz":[3.385654666000032e-05,0.7071366392043646,0.7070769199132371,4.092064814756042e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-4.470859272678474e-19,-2.115946816273841e-17,-8.310386737619373e-08],"object_linear_velocity_m_s":[2.3214437397533995e-17,2.653833702282603e-19,1.161656330837126e-14],"object_angular_velocity_rad_s":[-2.4584713353576294e-16,1.2960272912906123e-16,-1.1715815039031013e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313515315331422,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7995363066379815,-1.5731611819912972,1.2941828635032777,-1.3171825207926047,-1.5708934215814283,-0.2286576082831876,0.0],"actuator_force":[1.2974752741174598,-20.912134153322313,-20.262648701647777,-2.3940008774776516,0.06649083187892302,0.16614007841148748,-0.2932163367976593],"issued_joint_targets_rad":[-1.80295115766315,-1.5627517391556194,1.304165941008989,-1.312217656465419,-1.5708933260431928,-0.23207158163699498],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.040000000000352,"joint_targets_rad":[-1.80295115766315,-1.5627517391556194,1.304165941008989,-1.312217656465419,-1.5708933260431928,-0.23207158163699498],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.060000000000358,"qpos":[-1.7702522344078628,-1.5618518537950867,1.3045500715628076,-1.3135252653999998,-1.57089806184827,-0.1993713502885277,0.0029334936665977836,0.00015644044253510314,0.0031941772467745503,-0.003428399727307713,0.0029335564472666937,0.00015611639608649675,0.0031967835230204845,-0.0034386180937855198,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-2.1380858738239713e-18,-3.6490397143241555e-17,-8.34834185882617e-08],"qvel":[-0.16673414537169787,-0.004052445535636482,-0.0020974858552122604,0.006362874110254592,-0.00064012485143932,-0.16516138503033906,-1.725225698986064e-05,1.7408779595340218e-05,0.00015641644595704374,0.00019422611714083624,-1.0174802700147285e-05,-2.339854085062253e-05,-0.00014696547567765952,-0.00012868894950724425,5.965209531684572e-17,-4.960292569726289e-18,1.2025958048701785e-14,-9.751953576832572e-17,-1.9759288485656177e-15,-4.709390021421787e-08],"joint_position_rad":[-1.7702522344078628,-1.5618518537950867,1.3045500715628076,-1.3135252653999998,-1.57089806184827,-0.1993713502885277],"joint_velocity_rad_s":[-0.16673414537169787,-0.004052445535636482,-0.0020974858552122604,0.006362874110254592,-0.00064012485143932,-0.16516138503033906],"linkage_position_rad":[0.0029334936665977836,0.00015644044253510314,0.0031941772467745503,-0.003428399727307713,0.0029335564472666937,0.00015611639608649675,0.0031967835230204845,-0.0034386180937855198],"tcp_position_m":[-0.035637063522382016,0.4998758780055455,0.4319391316182203],"tcp_quaternion_wxyz":[3.388657889907106e-05,0.7071366756375121,0.7070768834751138,4.0928565826669744e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-2.1380858738239713e-18,-3.6490397143241555e-17,-8.34834185882617e-08],"object_linear_velocity_m_s":[5.965209531684572e-17,-4.960292569726289e-18,1.2025958048701785e-14],"object_angular_velocity_rad_s":[-9.75198622459645e-17,-1.9759288324844444e-15,-4.709390021421788e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313515161778327,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.802950328921223,-1.573119075172612,1.294000544147398,-1.3170401356542334,-1.5708932661655288,-0.2320715837438083,0.0],"actuator_force":[1.2974691219592387,-20.913464540796213,-20.26006048873387,-2.3937225381422422,0.0664103265145286,0.1660217753936024,-0.2932153703947738],"issued_joint_targets_rad":[-1.8063617555407272,-1.5626974565373748,1.3039682265600387,-1.3120748052655784,-1.5708931324154565,-0.23548224091631936],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.060000000000358,"joint_targets_rad":[-1.8063617555407272,-1.5626974565373748,1.3039682265600387,-1.3120748052655784,-1.5708931324154565,-0.23548224091631936],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.080000000000365,"qpos":[-1.773687115418333,-1.5619352235180424,1.3044943897440002,-1.3133865630971198,-1.5708980042165064,-0.20280613551145268,0.0029334920323129,0.00015643913968812635,0.003194179612916795,-0.003428396257547026,0.0029335550677645488,0.00015611777042228228,0.0031967963147257607,-0.0034386120267796668,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-1.93502800415239e-18,-3.245129604332748e-17,-8.36619843700936e-08],"qvel":[-0.16661321732264703,-0.00334870753191987,-0.002812492374347611,0.0063808171534704946,-0.00063880029014529,-0.16503953121062623,-1.7356712700131375e-05,1.7296179347742263e-05,0.00015657248532464097,0.00019444807832136204,-1.0233592743728219e-05,-2.324835086012506e-05,-0.0001458119684780792,-0.0001282641046055958,3.780992140436055e-17,-2.283235332355504e-18,1.1684564468629546e-14,8.982830454201102e-17,1.4103422960432361e-15,-5.09638090148122e-09],"joint_position_rad":[-1.773687115418333,-1.5619352235180424,1.3044943897440002,-1.3133865630971198,-1.5708980042165064,-0.20280613551145268],"joint_velocity_rad_s":[-0.16661321732264703,-0.00334870753191987,-0.002812492374347611,0.0063808171534704946,-0.00063880029014529,-0.16503953121062623],"linkage_position_rad":[0.0029334920323129,0.00015643913968812635,0.003194179612916795,-0.003428396257547026,0.0029335550677645488,0.00015611777042228228,0.0031967963147257607,-0.0034386120267796668],"tcp_position_m":[-0.0339297740281797,0.4999471345735598,0.43199219482017703],"tcp_quaternion_wxyz":[3.390683071338114e-05,0.7071367095071837,0.707076849600834,4.094189484585891e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-1.93502800415239e-18,-3.245129604332748e-17,-8.36619843700936e-08],"object_linear_velocity_m_s":[3.780992140436055e-17,-2.283235332355504e-18,1.1684564468629546e-14],"object_angular_velocity_rad_s":[8.982854085684837e-17,1.4103422809930652e-15,-5.096380901481223e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313515008113622,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8063610328321553,-1.5730626657066582,1.2938031571040753,-1.3168972890899655,-1.5708931062784446,-0.23548224302428744,0.0],"actuator_force":[1.29745210141391,-20.915401364463378,-20.257468330110896,-2.3934447117699165,0.06632899804549197,0.16589936464524158,-0.2932144034766531],"issued_joint_targets_rad":[-1.809768953748769,-1.5626285615640267,1.3037554292187659,-1.3119314835214437,-1.5708929345196323,-0.2388895025761477],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.080000000000365,"joint_targets_rad":[-1.809768953748769,-1.5626285615640267,1.3037554292187659,-1.3119314835214437,-1.5708929345196323,-0.2388895025761477],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.100000000000372,"qpos":[-1.7771193985544647,-1.5620040592656708,1.30442371871987,-1.3132474230797189,-1.5708979358849298,-0.20623832959925542,0.0029334904004422765,0.00015643782845462515,0.00319418195802894,-0.0034283927938770307,0.0029335536921708885,0.00015611915382526419,0.0031968091442629454,-0.0034386059583608737,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-1.509616647191964e-17,-2.722647009601541e-17,-8.40985914410024e-08],"qvel":[-0.16648825245647383,-0.002644589125355736,-0.003527968874208061,0.006398929672915914,-0.0006374991266724542,-0.16491360403431804,-1.7461383590143486e-05,1.718245113762347e-05,0.00015672438192266722,0.00019466911797730755,-1.0292346306854621e-05,-2.3097007739862502e-05,-0.00014465406057122564,-0.00012783804512165039,3.4798498717198706e-17,-1.7653065143566378e-17,1.1558276599578434e-14,-1.96241153903755e-16,1.1024370193420409e-15,-2.048585205795356e-08],"joint_position_rad":[-1.7771193985544647,-1.5620040592656708,1.30442371871987,-1.3132474230797189,-1.5708979358849298,-0.20623832959925542],"joint_velocity_rad_s":[-0.16648825245647383,-0.002644589125355736,-0.003527968874208061,0.006398929672915914,-0.0006374991266724542,-0.16491360403431804],"linkage_position_rad":[0.0029334904004422765,0.00015643782845462515,0.00319418195802894,-0.0034283927938770307,0.0029335536921708885,0.00015611915382526419,0.0031968091442629454,-0.0034386059583608737],"tcp_position_m":[-0.032222461539259575,0.5000184760328998,0.4320453731891821],"tcp_quaternion_wxyz":[3.391819848176765e-05,0.7071367409946024,0.7070768181091512,4.0960055938486584e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-1.509616647191964e-17,-2.722647009601541e-17,-8.40985914410024e-08],"object_linear_velocity_m_s":[3.4798498717198706e-17,-1.7653065143566378e-17,1.1558276599578434e-14],"object_angular_velocity_rad_s":[-1.9624096736143652e-16,1.1024370517307194e-15,-2.048585205795357e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313514854332186,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.809768336934332,-1.5729919494327764,1.2935906888840472,-1.3167539719968588,-1.570892942014415,-0.2388895046852373,0.0],"actuator_force":[1.2974242228547155,-20.91794468406897,-20.254872121961853,-2.393167425861634,0.06624684792461721,0.16577286044085326,-0.2932134359811733],"issued_joint_targets_rad":[-1.8131726711758323,-1.562545050127129,1.3035275347201487,-1.3117876811428126,-1.5708927324429653,-0.24229328549798632],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.100000000000372,"joint_targets_rad":[-1.8131726711758323,-1.562545050127129,1.3035275347201487,-1.3117876811428126,-1.5708927324429653,-0.24229328549798632],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.1200000000003785,"qpos":[-1.780549000324624,-1.5620583530268854,1.3043380482595723,-1.3131078412653323,-1.5708978574647878,-0.20966784859704038,0.002933488771385668,0.00015643650895056388,0.003194184282977144,-0.0034283893365409475,0.002933552320872721,0.00015612054618137272,0.0031968220117206507,-0.003438599888972959,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-2.2078115695999996e-17,-2.196556272526389e-17,-8.436707751055987e-08],"qvel":[-0.16635926268611914,-0.001940110531530008,-0.004243935762744472,0.006417242037652705,-0.0006362187512379858,-0.16478361782744824,-1.756627887621102e-05,1.7067606918873226e-05,0.00015687219405469572,0.00019488926886402513,-1.0351074931253124e-05,-2.294452453486865e-05,-0.00014349177756690942,-0.00012741075656323678,5.217750019256044e-17,-8.033279517600169e-17,1.1846934585980974e-14,-3.6428930826253265e-15,-1.3570017845258063e-15,-8.23466971275683e-08],"joint_position_rad":[-1.780549000324624,-1.5620583530268854,1.3043380482595723,-1.3131078412653323,-1.5708978574647878,-0.20966784859704038],"joint_velocity_rad_s":[-0.16635926268611914,-0.001940110531530008,-0.004243935762744472,0.006417242037652705,-0.0006362187512379858,-0.16478361782744824],"linkage_position_rad":[0.002933488771385668,0.00015643650895056388,0.003194184282977144,-0.0034283893365409475,0.002933552320872721,0.00015612054618137272,0.0031968220117206507,-0.003438599888972959],"tcp_position_m":[-0.03051512577546877,0.5000899030570529,0.4320986686061118],"tcp_quaternion_wxyz":[3.392149010418475e-05,0.7071367702635126,0.7070767888362991,4.0982529331728435e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-2.2078115695999996e-17,-2.196556272526389e-17,-8.436707751055987e-08],"object_linear_velocity_m_s":[5.217750019256044e-17,-8.033279517600169e-17,1.1846934585980974e-14],"object_angular_velocity_rad_s":[-3.642893307980243e-15,-1.3570011734814216e-15,-8.234669712756834e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351470042885,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.813172160112397,-1.5729069224064822,1.2933631252312285,-1.3166101742773195,-1.5708927734591605,-0.24229328760816674,0.0],"actuator_force":[1.2973854989022584,-20.92109454658157,-20.252271751589433,-2.3928907097589445,0.0661638779374698,0.1656422771816466,-0.29321246784388216],"issued_joint_targets_rad":[-1.8165728270397667,-1.5624469183357272,1.3032845280062766,-1.3116433870292878,-1.5708925262651752,-0.24569350889254227],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.1200000000003785,"joint_targets_rad":[-1.8165728270397667,-1.5624469183357272,1.3032845280062766,-1.3116433870292878,-1.5708925262651752,-0.24569350889254227],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.140000000000385,"qpos":[-1.783975837491397,-1.562098097186668,1.304237367672809,-1.3129678129027815,-1.5708977695162027,-0.21309460884878348,0.002933487145510684,0.00015643518129308053,0.0031941865886165053,-0.00342838588575561,0.0029335509542251733,0.00015612194737694467,0.0031968349171754675,-0.0034385938190221654,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-2.7157053103507e-17,-2.0162260343084603e-17,-8.467931120296952e-08],"qvel":[-0.1662262603059208,-0.0012352910531292984,-0.004960415128437972,0.006435786337977554,-0.000634956774442467,-0.16464958706922736,-1.7671407655711654e-05,1.6951658805018674e-05,0.00015701598164987124,0.0001951085641230297,-1.0409790058157591e-05,-2.279091451003412e-05,-0.0001423251447875012,-0.00012698222431226355,2.497129104252592e-17,-3.332645345658235e-17,1.1949630215758799e-14,9.508317235095183e-16,7.759105834311974e-16,-8.911348022397644e-09],"joint_position_rad":[-1.783975837491397,-1.562098097186668,1.304237367672809,-1.3129678129027815,-1.5708977695162027,-0.21309460884878348],"joint_velocity_rad_s":[-0.1662262603059208,-0.0012352910531292984,-0.004960415128437972,0.006435786337977554,-0.000634956774442467,-0.16464958706922736],"linkage_position_rad":[0.002933487145510684,0.00015643518129308053,0.0031941865886165053,-0.00342838588575561,0.0029335509542251733,0.00015612194737694467,0.0031968349171754675,-0.0034385938190221654],"tcp_position_m":[-0.02880776646403686,0.5001614163409634,0.43215208302728136],"tcp_quaternion_wxyz":[3.391743352629399e-05,0.707136797461876,0.707076761634296,4.100884900853119e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-2.7157053103507e-17,-2.0162260343084603e-17,-8.467931120296952e-08],"object_linear_velocity_m_s":[2.497129104252592e-17,-3.332645345658235e-17,1.1949630215758799e-14],"object_angular_velocity_rad_s":[9.508318552759985e-16,7.759104219156238e-16,-8.911348022397647e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313514546398434,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8165724215803947,-1.5728075808904378,1.2931204510984553,-1.3164658848241713,-1.570892600690743,-0.24569351100378495,0.0],"actuator_force":[1.297335944373117,-20.924850986287765,-20.249667097331894,-2.39261459449267,0.06608009017406857,0.16550762942199526,-0.2932114989982235],"issued_joint_targets_rad":[-1.8199693408957707,-1.5623341625062526,1.3030263932002315,-1.3114985890543513,-1.570892316059216,-0.24909009230776835],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.140000000000385,"joint_targets_rad":[-1.8199693408957707,-1.5623341625062526,1.3030263932002315,-1.3114985890543513,-1.570892316059216,-0.24909009230776835],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.160000000000392,"qpos":[-1.7873998270794842,-1.5621232845078576,1.3041216657755625,-1.3128273325379691,-1.5708976725524204,-0.2165185270008988,0.002933485523161546,0.00015643384560027994,0.0031941888758004193,-0.0034283824417044584,0.0029335495925602337,0.00015612335729877087,0.0031968478606995976,-0.0034385877488918803,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-2.2015566420419906e-17,-1.7860998529027812e-17,-8.506839115140761e-08],"qvel":[-0.1660892579922587,-0.0005301491217675722,-0.00567743069955092,0.0064545962929774044,-0.0006337110096218643,-0.16451152641466332,-1.777677903363051e-05,1.6834619072664702e-05,0.00015715580622360643,0.00019532703797464122,-1.0468503142001118e-05,-2.2636191165531147e-05,-0.00014115418686389005,-0.0001265524332083432,2.399899968732844e-17,-2.596536450480212e-17,1.1742851177422367e-14,6.823099110513458e-16,-1.1171140825608352e-17,-3.582082280599305e-08],"joint_position_rad":[-1.7873998270794842,-1.5621232845078576,1.3041216657755625,-1.3128273325379691,-1.5708976725524204,-0.2165185270008988],"joint_velocity_rad_s":[-0.1660892579922587,-0.0005301491217675722,-0.00567743069955092,0.0064545962929774044,-0.0006337110096218643,-0.16451152641466332],"linkage_position_rad":[0.002933485523161546,0.00015643384560027994,0.0031941888758004193,-0.0034283824417044584,0.0029335495925602337,0.00015612335729877087,0.0031968478606995976,-0.0034385877488918803],"tcp_position_m":[-0.027100383339892484,0.5002330166024869,0.43220561848807326],"tcp_quaternion_wxyz":[3.3906684447974944e-05,0.7071368227234003,0.707076736369415,4.10385975202196e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-2.2015566420419906e-17,-1.7860998529027812e-17,-8.506839115140761e-08],"object_linear_velocity_m_s":[2.399899968732844e-17,-2.596536450480212e-17,1.1742851177422367e-14],"object_angular_velocity_rad_s":[6.823099104303056e-16,-1.1171258488852514e-17,-3.582082280599308e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351439223558,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.819969040889819,-1.5726939213446756,1.292862650621429,-1.3163210915046675,-1.57089242378034,-0.24909009442004668,0.0],"actuator_force":[1.29727557623346,-20.929214024929024,-20.2470580284471,-2.392339112646937,0.06599548700228297,0.1653689318923881,-0.29321052937521086],"issued_joint_targets_rad":[-1.8233621326441596,-1.5622067791516177,1.3027531135780122,-1.311353274048284,-1.5708921018919613,-0.2524829556366262],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.160000000000392,"joint_targets_rad":[-1.8233621326441596,-1.5622067791516177,1.3027531135780122,-1.311353274048284,-1.5708921018919613,-0.2524829556366262],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.1800000000003985,"qpos":[-1.7908208863835886,-1.5621339081136631,1.3039909308564286,-1.312686393981319,-1.570897567043723,-0.2199395200062114,0.0029334839046664773,0.00015643250199131036,0.0031941911453850862,-0.0034283790045542433,0.002933548236194129,0.00015612477583393992,0.0031968608423666844,-0.003438581678943027,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-1.3856275436898937e-17,-9.725699320481998e-18,-8.520421284383736e-08],"qvel":[-0.16594826880281982,0.00017529766793671016,-0.006395007816248341,0.00647370717222221,-0.0006324794565413215,-0.16436945071370532,-1.788240221431294e-05,1.6716500103871164e-05,0.0001572917305945904,0.00019554472468553982,-1.052722573418658e-05,-2.2480368161921374e-05,-0.00013997892770714715,-0.0001261213663984776,1.3724176892645599e-17,-1.790253045699003e-17,1.1454193191019827e-14,7.215811105817303e-16,6.132343619814691e-16,-3.8764374238150145e-09],"joint_position_rad":[-1.7908208863835886,-1.5621339081136631,1.3039909308564286,-1.312686393981319,-1.570897567043723,-0.2199395200062114],"joint_velocity_rad_s":[-0.16594826880281982,0.00017529766793671016,-0.006395007816248341,0.00647370717222221,-0.0006324794565413215,-0.16436945071370532],"linkage_position_rad":[0.0029334839046664773,0.00015643250199131036,0.0031941911453850862,-0.0034283790045542433,0.002933548236194129,0.00015612477583393992,0.0031968608423666844,-0.003438581678943027],"tcp_position_m":[-0.025392976145983945,0.5003047045839419,0.4322592771068203],"tcp_quaternion_wxyz":[3.3889833291825096e-05,0.7071368461689255,0.7070767129208003,4.1071401310285486e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-1.3856275436898937e-17,-9.725699320481998e-18,-8.520421284383736e-08],"object_linear_velocity_m_s":[1.3724176892645599e-17,-1.790253045699003e-17,1.1454193191019827e-14],"object_angular_velocity_rad_s":[7.215812151574245e-16,6.132342389105335e-16,-3.876437423815017e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313514237934792,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.823361937937376,-1.5725659404160075,1.292589707090699,-1.3161757811433554,-1.5708922427929428,-0.25248295774991525,0.0],"actuator_force":[1.2972044135531178,-20.934183671863593,-20.244444404959722,-2.3920642982404843,0.06591007104418622,0.16522619951859951,-0.2932095589032878],"issued_joint_targets_rad":[-1.8267511225378312,-1.562064764969459,1.3024646715383372,-1.3112074277798185,-1.5708918838248178,-0.2558720191245409],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.1800000000003985,"joint_targets_rad":[-1.8267511225378312,-1.562064764969459,1.3024646715383372,-1.3112074277798185,-1.5708918838248178,-0.2558720191245409],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.200000000000405,"qpos":[-1.7942389329762547,-1.5621299614707385,1.303845150643282,-1.31254499027658,-1.570897453421024,-0.22335750512826827,0.002933482290343934,0.00015643115058657054,0.003194193398236864,-0.003428375574455753,0.0029335468854334843,0.00015612620286935028,0.0031968738622553667,-0.00343857560952628,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,6.100427507729892e-18,-5.525634302672713e-18,-8.568748891055427e-08],"qvel":[-0.165803306174591,0.0008810325315213899,-0.007113173415087345,0.006493155730706967,-0.0006312602863157515,-0.1642233750271224,-1.7988286604648974e-05,1.6597314346466358e-05,0.00015742381898118223,0.00019576165996720624,-1.058596958010099e-05,-2.2323459388277703e-05,-0.00013879939066500848,-0.00012568900775724372,9.697062689660573e-18,4.0066762783432524e-18,1.1434764288088886e-14,5.492269726493215e-16,4.919767707028753e-16,-1.5582062077249895e-08],"joint_position_rad":[-1.7942389329762547,-1.5621299614707385,1.303845150643282,-1.31254499027658,-1.570897453421024,-0.22335750512826827],"joint_velocity_rad_s":[-0.165803306174591,0.0008810325315213899,-0.007113173415087345,0.006493155730706967,-0.0006312602863157515,-0.1642233750271224],"linkage_position_rad":[0.002933482290343934,0.00015643115058657054,0.003194193398236864,-0.003428375574455753,0.0029335468854334843,0.00015612620286935028,0.0031968738622553667,-0.00343857560952628],"tcp_position_m":[-0.023685544633618806,0.5003764810537618,0.4323130610889767],"tcp_quaternion_wxyz":[3.3867411503725456e-05,0.7071368679076689,0.7070766911792173,4.1106926490209174e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,6.100427507729892e-18,-5.525634302672713e-18,-8.568748891055427e-08],"object_linear_velocity_m_s":[9.697062689660573e-18,4.0066762783432524e-18,1.1434764288088886e-14],"object_angular_velocity_rad_s":[5.492270571340236e-16,4.919766767692227e-16,-1.5582062077249904e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313514083490325,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8267510329724421,-1.5724236349265686,1.2923016029215273,-1.3160299395036796,-1.5708920577879826,-0.2558720212388172,0.0],"actuator_force":[1.2971224774619259,-20.939759924268856,-20.241826077474343,-2.391790186620483,0.06582384515229478,0.16507944743779035,-0.29320858750794715],"issued_joint_targets_rad":[-1.8301362311893883,-1.5619081168294529,1.3021610485701314,-1.3110610349364111,-1.5708916619142834,-0.2592572033765227],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.200000000000405,"joint_targets_rad":[-1.8301362311893883,-1.5619081168294529,1.3021610485701314,-1.3110610349364111,-1.5708916619142834,-0.2592572033765227],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.220000000000412,"qpos":[-1.797653884715647,-1.5621114383726789,1.303684312270036,-1.312403113670732,-1.5708973320791768,-0.2267723999459233,0.0029334806805081993,0.00015642979150760398,0.003194195635235276,-0.0034283721515563997,0.002933545540580967,0.0001561276382922719,0.0031968869204574775,-0.003438569540986812,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,4.21783573871205e-18,4.252227673964715e-18,-8.59923805711026e-08],"qvel":[-0.16565438392046333,0.0015870394747384954,-0.007831956025636072,0.006512980156332001,-0.0006300518274906587,-0.16407331463931848,-1.8094441865308343e-05,1.6477074378316564e-05,0.00015755213699757755,0.00019597788049535519,-1.0644746657347802e-05,-2.216547889681061e-05,-0.00013761559816549888,-0.00012525533881472788,-1.529285483268428e-17,8.982211179981636e-18,1.1400069818569346e-14,-4.3286498086154225e-16,1.6347652845748365e-15,-6.26350001389519e-08],"joint_position_rad":[-1.797653884715647,-1.5621114383726789,1.303684312270036,-1.312403113670732,-1.5708973320791768,-0.2267723999459233],"joint_velocity_rad_s":[-0.16565438392046333,0.0015870394747384954,-0.007831956025636072,0.006512980156332001,-0.0006300518274906587,-0.16407331463931848],"linkage_position_rad":[0.0029334806805081993,0.00015642979150760398,0.003194195635235276,-0.0034283721515563997,0.002933545540580967,0.0001561276382922719,0.0031968869204574775,-0.003438569540986812],"tcp_position_m":[-0.02197808856281629,0.5004483468082531,0.43236697273158153],"tcp_quaternion_wxyz":[3.3839897254555965e-05,0.7071368880383548,0.7070766710459278,4.114487502214664e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,4.21783573871205e-18,4.252227673964715e-18,-8.59923805711026e-08],"object_linear_velocity_m_s":[-1.529285483268428e-17,8.982211179981636e-18,1.1400069818569346e-14],"object_angular_velocity_rad_s":[-4.3286470023949565e-16,1.6347653595493622e-15,-6.263500013895193e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513928896214,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.830136246604184,-1.5722670018614233,1.2919983196214315,-1.3158835512682066,-1.5708918688198992,-0.25925720549176406,0.0],"actuator_force":[1.297029791111072,-20.945942767384622,-20.23920288695399,-2.3915168143704477,0.06573681238785412,0.16492869101145402,-0.29320761511184507],"issued_joint_targets_rad":[-1.8335173795778925,-1.5617368317596236,1.301842225217481,-1.3109140791029934,-1.5708914362124404,-0.262638429363911],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.220000000000412,"joint_targets_rad":[-1.8335173795778925,-1.5617368317596236,1.301842225217481,-1.3109140791029934,-1.5708914362124404,-0.262638429363911],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.2400000000004185,"qpos":[-1.801065659753226,-1.5620783329238062,1.3035084022432277,-1.3122607555847408,-1.5708972033800088,-0.2301841223581341,0.0029334790754740794,0.00015642842487708223,0.0031941978572785396,-0.0034283687359940294,0.0029335442019399155,0.00015612908198964123,0.0031969000170786544,-0.0034385634736632574,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,1.167307009523018e-18,8.461088118857719e-18,-8.622987348884727e-08],"qvel":[-0.1655015162245109,0.0022933032801811105,-0.008551385779005435,0.0065332200293178695,-0.0006288525531834228,-0.16391928506816408,-1.8200878020044242e-05,1.635579276694299e-05,0.00015767675144033163,0.0001961934241623542,-1.070356927554222e-05,-2.2006440875528876e-05,-0.00013642757171693554,-0.0001248203404296663,-7.952946914571184e-18,2.9183403808487768e-18,1.1383416473199968e-14,-2.243425252842344e-16,7.441169768102648e-17,-6.77819881174385e-09],"joint_position_rad":[-1.801065659753226,-1.5620783329238062,1.3035084022432277,-1.3122607555847408,-1.5708972033800088,-0.2301841223581341],"joint_velocity_rad_s":[-0.1655015162245109,0.0022933032801811105,-0.008551385779005435,0.0065332200293178695,-0.0006288525531834228,-0.16391928506816408],"linkage_position_rad":[0.0029334790754740794,0.00015642842487708223,0.0031941978572785396,-0.0034283687359940294,0.0029335442019399155,0.00015612908198964123,0.0031969000170786544,-0.0034385634736632574],"tcp_position_m":[-0.02027060770267901,0.5005203026734792,0.43242101442806347],"tcp_quaternion_wxyz":[3.380772058765854e-05,0.7071369066502321,0.7070766524316691,4.118498127812303e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,1.167307009523018e-18,8.461088118857719e-18,-8.622987348884727e-08],"object_linear_velocity_m_s":[-7.952946914571184e-18,2.9183403808487768e-18,1.1383416473199968e-14],"object_angular_velocity_rad_s":[-2.243425125659105e-16,7.441173638690507e-17,-6.778198811743854e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513774146177,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8335174998083075,-1.572096038355159,1.2916798377552015,-1.315736600017337,-1.5708916759386462,-0.2626384314800964,0.0],"actuator_force":[1.2969263796408086,-20.952732174778248,-20.236574664450018,-2.3912442192298613,0.065648975999693,0.1647739458352362,-0.29320664163422183],"issued_joint_targets_rad":[-1.8368944890552257,-1.561550906931563,1.3015081810418179,-1.3107665427390476,-1.570891206767406,-0.26601561843073657],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.2400000000004185,"joint_targets_rad":[-1.8368944890552257,-1.561550906931563,1.3015081810418179,-1.3107665427390476,-1.570891206767406,-0.26601561843073657],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.260000000000425,"qpos":[-1.8044741765413046,-1.5620306395230967,1.3033174064082005,-1.312117906584924,-1.570897067655113,-0.23359259058891485,0.0029334774755611836,0.00015642705081877199,0.0031942000652862837,-0.0034283653279112303,0.002933542869818661,0.00015613053384854467,0.003196913152244579,-0.003438557407897648,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-5.763545171199264e-18,8.983349995438952e-19,-8.662118591546573e-08],"qvel":[-0.16534471763590078,0.002999809500240572,-0.00927149442828577,0.006553916293148564,-0.0006276610692354278,-0.16376130207211778,-1.8307605502708966e-05,1.623348214602329e-05,0.00015779773031884833,0.00019640832970941628,-1.0762450113028738e-05,-2.1846359680190532e-05,-0.00013523533160877404,-0.00012438399163883015,-1.0153273644290295e-18,-1.0022083070958698e-17,1.1302925303914648e-14,-1.5165292344644016e-16,-4.674032857169694e-16,-2.7246232328605723e-08],"joint_position_rad":[-1.8044741765413046,-1.5620306395230967,1.3033174064082005,-1.312117906584924,-1.570897067655113,-0.23359259058891485],"joint_velocity_rad_s":[-0.16534471763590078,0.002999809500240572,-0.00927149442828577,0.006553916293148564,-0.0006276610692354278,-0.16376130207211778],"linkage_position_rad":[0.0029334774755611836,0.00015642705081877199,0.0031942000652862837,-0.0034283653279112303,0.002933542869818661,0.00015613053384854467,0.003196913152244579,-0.003438557407897648],"tcp_position_m":[-0.01856310183178104,0.5005923495072702,0.4324751886733927],"tcp_quaternion_wxyz":[3.377126807994914e-05,0.7071369238239946,0.7070766352557358,4.122700892808317e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-5.763545171199264e-18,8.983349995438952e-19,-8.662118591546573e-08],"object_linear_velocity_m_s":[-1.0153273644290295e-18,-1.0022083070958698e-17,1.1302925303914648e-14],"object_angular_velocity_rad_s":[-1.5165300446944436e-16,-4.674032597583204e-16,-2.7246232328605746e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513619233639,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8368947139334164,-1.5719107416773825,1.2913461369071415,-1.3155890682063434,-1.5708914791901498,-0.2660156205478459,0.0],"actuator_force":[1.2968122701367975,-20.96012810866796,-20.233941230803794,-2.3909724400245977,0.06556033940512407,0.16461522774625337,-0.29320566699091355],"issued_joint_targets_rad":[-1.8402674813520137,-1.5613503396444528,1.301158894581072,-1.3106184071538487,-1.5708909736237284,-0.26938869229964446],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.260000000000425,"joint_targets_rad":[-1.8402674813520137,-1.5613503396444528,1.301158894581072,-1.3106184071538487,-1.5708909736237284,-0.26938869229964446],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.280000000000432,"qpos":[-1.807879353840444,-1.5619683528481394,1.3031113099146163,-1.311974556354692,-1.5708969252084093,-0.23699772319238738,0.002933475881097858,0.00015642566945769676,0.003194202260202963,-0.003428361927456212,0.0029335415445344106,0.00015613199375576239,0.003196926326103778,-0.003438551344036101,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-6.381061066961297e-18,-2.756979024039187e-18,-8.677778175586453e-08],"qvel":[-0.16518400306143896,0.0037065444562511796,-0.00999231538092273,0.006575111236650116,-0.0006264761032409832,-0.16359938165463025,-1.8414635238871406e-05,1.611015513617633e-05,0.00015791514292522402,0.00019662263778370516,-1.0821402286951159e-05,-2.1685249774296857e-05,-0.00013403889709890914,-0.0001239462706004648,1.0185049291561454e-16,-2.2595427911541737e-17,1.1280720843422143e-14,-2.2267146045616345e-15,-8.60370698493061e-15,-1.0952130451205735e-07],"joint_position_rad":[-1.807879353840444,-1.5619683528481394,1.3031113099146163,-1.311974556354692,-1.5708969252084093,-0.23699772319238738],"joint_velocity_rad_s":[-0.16518400306143896,0.0037065444562511796,-0.00999231538092273,0.006575111236650116,-0.0006264761032409832,-0.16359938165463025],"linkage_position_rad":[0.002933475881097858,0.00015642566945769676,0.003194202260202963,-0.003428361927456212,0.0029335415445344106,0.00015613199375576239,0.003196926326103778,-0.003438551344036101],"tcp_position_m":[-0.01685557073858214,0.5006644882013779,0.4325294980696285],"tcp_quaternion_wxyz":[3.373088705191095e-05,0.7071369396326093,0.7070766194451485,4.127074813353823e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-6.381061066961297e-18,-2.756979024039187e-18,-8.677778175586453e-08],"object_linear_velocity_m_s":[1.0185049291561454e-16,-2.2595427911541737e-17,1.1280720843422143e-14],"object_angular_velocity_rad_s":[-2.2267160971789213e-15,-8.603706599869504e-15,-1.0952130451205745e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513464151661,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8402678107069335,-1.5717111092170204,1.2909971956402841,-1.3154409371405784,-1.5708912786167164,-0.26938869441765845,0.0],"actuator_force":[1.2966874915969129,-20.968130520262093,-20.231302396295177,-2.3907015166081464,0.06547090617061713,0.16445255282749827,-0.2932046910939843],"issued_joint_targets_rad":[-1.8436362785830802,-1.5611351273077942,1.3007943433054763,-1.3104696524796666,-1.5708907368227487,-0.27275757307734555],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.280000000000432,"joint_targets_rad":[-1.8436362785830802,-1.5611351273077942,1.3007943433054763,-1.3104696524796666,-1.5708907368227487,-0.27275757307734555],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.300000000000439,"qpos":[-1.8112811107266746,-1.5618914678389793,1.3028900971810589,-1.3118306936664317,-1.5708967763184971,-0.2403994390578779,0.002933474292424795,0.00015642428091983831,0.003194204443001587,-0.0034283585347802056,0.0029335402264168875,0.0001561334615979944,0.0031969395388306747,-0.003438545282433916,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-1.095244966470651e-17,-2.9467529116411416e-17,-8.719305331499392e-08],"qvel":[-0.1650193877566395,0.004413495243692666,-0.01071388374336872,0.006596848487059629,-0.000625296494452503,-0.16343354006593486,-1.8521978727148823e-05,1.5985824325839793e-05,0.00015802905969225061,0.00019683639037838103,-1.0880439420236113e-05,-2.1523125735896457e-05,-0.00013283828599481117,-0.0001235071538498772,3.269243278257149e-17,-1.1669881799463803e-17,1.1279333064641365e-14,2.7533038983804144e-16,1.2078978119821148e-16,-1.185211422459458e-08],"joint_position_rad":[-1.8112811107266746,-1.5618914678389793,1.3028900971810589,-1.3118306936664317,-1.5708967763184971,-0.2403994390578779],"joint_velocity_rad_s":[-0.1650193877566395,0.004413495243692666,-0.01071388374336872,0.006596848487059629,-0.000625296494452503,-0.16343354006593486],"linkage_position_rad":[0.002933474292424795,0.00015642428091983831,0.003194204443001587,-0.0034283585347802056,0.0029335402264168875,0.0001561334615979944,0.0031969395388306747,-0.003438545282433916],"tcp_position_m":[-0.01514801422185982,0.5007367196837885,0.43258394533188527],"tcp_quaternion_wxyz":[3.3686889378599266e-05,0.7071369541420682,0.7070766049339055,4.1316013009575725e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-1.095244966470651e-17,-2.9467529116411416e-17,-8.719305331499392e-08],"object_linear_velocity_m_s":[3.269243278257149e-17,-1.1669881799463803e-17,1.1279333064641365e-14],"object_angular_velocity_rad_s":[2.7533041160060223e-16,1.2078973292479562e-16,-1.185211422459459e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513308892939,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8436367122405526,-1.5714971384653234,1.290632991452258,-1.3152921869486478,-1.5708910742574,-0.27275757519624555,0.0],"actuator_force":[1.2965520748994095,-20.97673935016519,-20.228657960254168,-2.390431489814091,0.06538067999372288,0.16428593740963038,-0.2932037138513472],"issued_joint_targets_rad":[-1.847000803252392,-1.5609052674227084,1.3004145035696943,-1.3103202576427204,-1.570890496402917,-0.27612218325956256],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.300000000000439,"joint_targets_rad":[-1.847000803252392,-1.5609052674227084,1.3004145035696943,-1.3103202576427204,-1.570890496402917,-0.27612218325956256],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.320000000000445,"qpos":[-1.8146793665984986,-1.5617999796817355,1.302653751858453,-1.3116863063533042,-1.5708966212408126,-0.24379765741500573,0.0029334727098986,0.000156422885332366,0.00319420661468659,-0.003428355150050611,0.0029335389158118975,0.00015613493726203425,0.0031969527906300036,-0.0034385392234592086,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-3.6499784334052194e-19,-1.3392188757033884e-17,-8.752060615193497e-08],"qvel":[-0.16485088731533928,0.005120649743461319,-0.011436236378337857,0.006619173013992818,-0.0006241211844437229,-0.16326379380232872,-1.8629648082468497e-05,1.5860502252610796e-05,0.00015813955222768734,0.00019704963122370214,-1.0939575673206675e-05,-2.136000221617747e-05,-0.0001316335143504908,-0.00012306661530458104,2.606816955993264e-19,6.958540362373892e-18,1.126406749805277e-14,1.3312156831996158e-15,2.4170871827275356e-15,-4.764178017158496e-08],"joint_position_rad":[-1.8146793665984986,-1.5617999796817355,1.302653751858453,-1.3116863063533042,-1.5708966212408126,-0.24379765741500573],"joint_velocity_rad_s":[-0.16485088731533928,0.005120649743461319,-0.011436236378337857,0.006619173013992818,-0.0006241211844437229,-0.16326379380232872],"linkage_position_rad":[0.0029334727098986,0.000156422885332366,0.00319420661468659,-0.003428355150050611,0.0029335389158118975,0.00015613493726203425,0.0031969527906300036,-0.0034385392234592086],"tcp_position_m":[-0.013440432091171796,0.5008090449212046,0.43263853329476665],"tcp_quaternion_wxyz":[3.3639554932167134e-05,0.7071369674120642,0.7070765916623043,4.136263933529446e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-3.6499784334052194e-19,-1.3392188757033884e-17,-8.752060615193497e-08],"object_linear_velocity_m_s":[2.606816955993264e-19,6.958540362373892e-18,1.126406749805277e-14],"object_angular_velocity_rad_s":[1.3312161075655229e-15,2.4170869496751153e-15,-4.7641780171585e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513153449765,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8470013410351822,-1.5712688269974444,1.290253500727478,-1.315142796553336,-1.5708908661483296,-0.2761221853793306,0.0],"actuator_force":[1.2964060527683614,-20.985954528802267,-20.22600771061434,-2.390162401415182,0.06528966468590625,0.16411539807043596,-0.2932027351667465],"issued_joint_targets_rad":[-1.8503609782574417,-1.5606607575616827,1.300019350560897,-1.3101702003316487,-1.5708902524000774,-0.27948244573541775],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.320000000000445,"joint_targets_rad":[-1.8503609782574417,-1.5606607575616827,1.300019350560897,-1.3101702003316487,-1.5708902524000774,-0.27948244573541775],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.340000000000452,"qpos":[-1.8180740411836438,-1.5616938837918548,1.3024022567920337,-1.3115413812807346,-1.5708964602096076,-0.247192297838713,0.0029334711338950925,0.000156421482823369,0.0031942087762962226,-0.0034283517734489516,0.0029335376130846264,0.00015613642063441683,0.0031969660817403587,-0.0034385331674902367,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,5.7794598642776386e-18,-2.474286551554169e-19,-8.770124932834434e-08],"qvel":[-0.164678517657761,0.005827996639208434,-0.012159411975170294,0.006642131144354817,-0.0006229492085081757,-0.16309015960293013,-1.873765614378957e-05,1.5734201373667218e-05,0.0001582466932804745,0.0001972624057631704,-1.0998825837428123e-05,-2.119589393790126e-05,-0.00013042459649140588,-0.00012262462753266258,3.2164995084008945e-18,4.351915666106093e-18,1.1110024053386032e-14,2.8556483076727054e-16,6.184012516547593e-16,-5.1556710630170156e-09],"joint_position_rad":[-1.8180740411836438,-1.5616938837918548,1.3024022567920337,-1.3115413812807346,-1.5708964602096076,-0.247192297838713],"joint_velocity_rad_s":[-0.164678517657761,0.005827996639208434,-0.012159411975170294,0.006642131144354817,-0.0006229492085081757,-0.16309015960293013],"linkage_position_rad":[0.0029334711338950925,0.000156421482823369,0.0031942087762962226,-0.0034283517734489516,0.0029335376130846264,0.00015613642063441683,0.0031969660817403587,-0.0034385331674902367],"tcp_position_m":[-0.011732824167348426,0.5008814649217173,0.4326932649193038],"tcp_quaternion_wxyz":[3.3589134695970353e-05,0.7071369794966,0.7070765795763327,4.141048248337315e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,5.7794598642776386e-18,-2.474286551554169e-19,-8.770124932834434e-08],"object_linear_velocity_m_s":[3.2164995084008945e-18,4.351915666106093e-18,1.1110024053386032e-14],"object_angular_velocity_rad_s":[2.855649392389425e-16,6.184012016255596e-16,-5.155671063017021e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512997813986,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8503616199853286,-1.5710261724524683,1.2898586986852885,-1.3149927436400526,-1.570890654323,-0.27948244785603626,0.0],"actuator_force":[1.2962494597350087,-20.995775976909954,-20.223351423422173,-2.3898942940944607,0.06519786415469753,0.16394095163136058,-0.2932017549390799],"issued_joint_targets_rad":[-1.8537167268930255,-1.5604015953465953,1.2996088582423322,-1.3100194569632004,-1.5708900048477212,-0.2828382837912103],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.340000000000452,"joint_targets_rad":[-1.8537167268930255,-1.5604015953465953,1.2996088582423322,-1.3100194569632004,-1.5708900048477212,-0.2828382837912103],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.360000000000459,"qpos":[-1.8214650545455462,-1.561573175796873,1.3021355939815706,-1.3113959043173467,-1.5708962934397654,-0.25058328025418264,0.002933469564812807,0.0001564200735219077,0.003194210928906468,-0.0034283484051730244,0.002933536318623157,0.00015613791160189443,0.003196979412436893,-0.003438527114932792,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,1.3624856204798388e-19,-1.2274075638608724e-17,-8.81429357887773e-08],"qvel":[-0.16450229501689992,0.006535525440923794,-0.012883451134149116,0.00666577058846374,-0.000621779687713941,-0.16291265444391703,-1.8846016541641113e-05,1.560693395261812e-05,0.00015835055662082162,0.0001974747613668149,-1.105820537827144e-05,-2.1030815627476068e-05,-0.00012921154457794104,-0.00012218116067833467,1.975851427049814e-17,3.2779839727605477e-18,1.1112799610947599e-14,-3.665271560574313e-16,-2.072202059867249e-17,-2.0724179902986996e-08],"joint_position_rad":[-1.8214650545455462,-1.561573175796873,1.3021355939815706,-1.3113959043173467,-1.5708962934397654,-0.25058328025418264],"joint_velocity_rad_s":[-0.16450229501689992,0.006535525440923794,-0.012883451134149116,0.00666577058846374,-0.000621779687713941,-0.16291265444391703],"linkage_position_rad":[0.002933469564812807,0.0001564200735219077,0.003194210928906468,-0.0034283484051730244,0.002933536318623157,0.00015613791160189443,0.003196979412436893,-0.003438527114932792],"tcp_position_m":[-0.010025190283012355,0.5009539807376879,0.4327481433004514],"tcp_quaternion_wxyz":[3.353585358092467e-05,0.7071369904445426,0.7070765686271168,4.1459415551677274e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,1.3624856204798388e-19,-1.2274075638608724e-17,-8.81429357887773e-08],"object_linear_velocity_m_s":[1.975851427049814e-17,3.2779839727605477e-18,1.1112799610947599e-14],"object_angular_velocity_rad_s":[-3.6652715920168517e-16,-2.0721955979465795e-17,-2.072417990298702e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512841977023,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.853717472382872,-1.570769172511723,1.2894485593236018,-1.3148420046225002,-1.5708904388125313,-0.28283828591266214,0.0],"actuator_force":[1.296082332108199,-21.006203606069448,-20.22068886227771,-2.389627211423317,0.06510528238845836,0.16376261515196688,-0.29320077306219866],"issued_joint_targets_rad":[-1.8570679728543549,-1.5601277784248506,1.299182999291918,-1.3098680026448553,-1.570889753777209,-0.28618962111353624],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.360000000000459,"joint_targets_rad":[-1.8570679728543549,-1.5601277784248506,1.299182999291918,-1.3098680026448553,-1.570889753777209,-0.28618962111353624],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.380000000000465,"qpos":[-1.8248523270895063,-1.5614378515185532,1.301853744539549,-1.3112498603051088,-1.570896121128465,-0.2539705249415927,0.0029334680030764985,0.00015641865755794008,0.0031942130736331573,-0.003428345045449909,0.002933535032841992,0.0001561394100512143,0.0031969927830369947,-0.0034385210662042066,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,4.4940750866158996e-20,-4.9378068034531196e-18,-8.835796801009322e-08],"qvel":[-0.16432223592321143,0.007243226514926761,-0.013608396465614367,0.00669014047765413,-0.0006206118215656249,-0.1627312955302736,-1.895474378093268e-05,1.5478712180156706e-05,0.00015845121738677407,0.00019768674775621193,-1.1117730516717773e-05,-2.0864782115454644e-05,-0.00012799436872974764,-0.00012173618262136976,-3.2969326216436455e-18,4.561035237478421e-18,1.1100309601920566e-14,5.131748207495662e-16,2.625067428744832e-15,-8.330470028087883e-08],"joint_position_rad":[-1.8248523270895063,-1.5614378515185532,1.301853744539549,-1.3112498603051088,-1.570896121128465,-0.2539705249415927],"joint_velocity_rad_s":[-0.16432223592321143,0.007243226514926761,-0.013608396465614367,0.00669014047765413,-0.0006206118215656249,-0.1627312955302736],"linkage_position_rad":[0.0029334680030764985,0.00015641865755794008,0.0031942130736331573,-0.003428345045449909,0.002933535032841992,0.0001561394100512143,0.0031969927830369947,-0.0034385210662042066],"tcp_position_m":[-0.00831753028314178,0.5010265934688526,0.4328031716751969],"tcp_quaternion_wxyz":[3.34799129724626e-05,0.7071370003001166,0.707076558770423,4.15093276708905e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,4.4940750866158996e-20,-4.9378068034531196e-18,-8.835796801009322e-08],"object_linear_velocity_m_s":[-3.2969326216436455e-18,4.561035237478421e-18,1.1100309601920566e-14],"object_angular_velocity_rad_s":[5.131752854634916e-16,2.6250673380661126e-15,-8.330470028087892e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512685929767,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8570688219201805,-1.570497824875212,1.289023055357565,-1.3146905546052752,-1.5708902196459007,-0.28618962323580455,0.0],"actuator_force":[1.2959047079366428,-21.017237319288597,-20.218019777722475,-2.3893611978485296,0.06501192343876028,0.16358040592143652,-0.29319978942443625],"issued_joint_targets_rad":[-1.8604146402394435,-1.5598393044434198,1.298741745035302,-1.3097158111340095,-1.5708894992179654,-0.28953638179167773],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.380000000000465,"joint_targets_rad":[-1.8604146402394435,-1.5598393044434198,1.298741745035302,-1.3097158111340095,-1.5708894992179654,-0.28953638179167773],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.400000000000472,"qpos":[-1.8282357795684994,-1.561287906954258,1.301556688646962,-1.3111032330284356,-1.5708959434567031,-0.25735395254065524,0.0029334664491408287,0.0001564172350621488,0.0031942152116370046,-0.0034283416945205514,0.002933533756185742,0.00015614091586940487,0.0031970061939032867,-0.003438515021751114,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,1.892450195766604e-18,4.744828374181111e-18,-8.867383415981243e-08],"qvel":[-0.1641383571874168,0.007951091120591284,-0.014334292704982514,0.006715291413905327,-0.0006194448812379592,-0.16254610028493213,-1.9063853348461826e-05,1.5349547934353955e-05,0.00015854875137873026,0.00019789841682413365,-1.1177418299411873e-05,-2.0697808146201104e-05,-0.00012677307616790513,-0.00012128965850272695,-2.348837596720203e-18,1.7290619987553362e-18,1.1172474098521202e-14,8.228843549708189e-18,1.7006504114676145e-16,-9.015020662631002e-09],"joint_position_rad":[-1.8282357795684994,-1.561287906954258,1.301556688646962,-1.3111032330284356,-1.5708959434567031,-0.25735395254065524],"joint_velocity_rad_s":[-0.1641383571874168,0.007951091120591284,-0.014334292704982514,0.006715291413905327,-0.0006194448812379592,-0.16254610028493213],"linkage_position_rad":[0.0029334664491408287,0.0001564172350621488,0.0031942152116370046,-0.0034283416945205514,0.002933533756185742,0.00015614091586940487,0.0031970061939032867,-0.003438515021751114],"tcp_position_m":[-0.00660984402566656,0.5010993042656868,0.43285835343134627],"tcp_quaternion_wxyz":[3.342149303215916e-05,0.7071370091033558,0.7070765499662108,4.1560122478994085e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,1.892450195766604e-18,4.744828374181111e-18,-8.867383415981243e-08],"object_linear_velocity_m_s":[-2.348837596720203e-18,1.7290619987553362e-18,1.1172474098521202e-14],"object_angular_velocity_rad_s":[8.228873624797129e-18,1.7006503972151374e-16,-9.015020662631012e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512529662561,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8604155926924966,-1.5702121272359644,1.2885821581526928,-1.3145383673430342,-1.5708899968501404,-0.28953638391474584,0.0],"actuator_force":[1.2957166269720801,-21.028877011649,-20.215343906545968,-2.3890962986898785,0.06491779140515064,0.16339434144791198,-0.29319880390808917],"issued_joint_targets_rad":[-1.86375665355069,-1.5595361710205644,1.2982850653727471,-1.3095628547933265,-1.5708892411976507,-0.292878490319198],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.400000000000472,"joint_targets_rad":[-1.86375665355069,-1.5595361710205644,1.2982850653727471,-1.3095628547933265,-1.5708892411976507,-0.292878490319198],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.420000000000479,"qpos":[-1.8316153330885854,-1.5611233382574026,1.3012444055063708,-1.310956005181982,-1.5708957605906928,-0.26073348405488217,0.002933464903494244,0.00015641580616597293,0.003194217344125898,-0.0034283383526636404,0.0029335324891330518,0.0001561424289440019,0.0031970196454491227,-0.0034385089820515506,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,2.3389460524290318e-18,2.3781564779291827e-17,-8.906744057780537e-08],"qvel":[-0.16395067588127776,0.008659111454169283,-0.015061186845119569,0.006741275532195638,-0.0006182782033112487,-0.16235708633528395,-1.917336177437264e-05,1.5219452931842009e-05,0.00015864323617755696,0.00019810982326883342,-1.1237286649429661e-05,-2.0529908450661386e-05,-0.00012554767122312986,-0.00012084155021953308,-4.05285202395758e-17,5.3684481926543395e-18,1.1110024053386037e-14,-1.3174747082803156e-17,1.2967738414782463e-15,-3.6237554288844747e-08],"joint_position_rad":[-1.8316153330885854,-1.5611233382574026,1.3012444055063708,-1.310956005181982,-1.5708957605906928,-0.26073348405488217],"joint_velocity_rad_s":[-0.16395067588127776,0.008659111454169283,-0.015061186845119569,0.006741275532195638,-0.0006182782033112487,-0.16235708633528395],"linkage_position_rad":[0.002933464903494244,0.00015641580616597293,0.003194217344125898,-0.0034283383526636404,0.0029335324891330518,0.0001561424289440019,0.0031970196454491227,-0.0034385089820515506],"tcp_position_m":[-0.004902131382114035,0.5011721143330411,0.43291369211704966],"tcp_quaternion_wxyz":[3.33607547823757e-05,0.7071370168905069,0.7070765421782279,4.161171673589639e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,2.3389460524290318e-18,2.3781564779291827e-17,-8.906744057780537e-08],"object_linear_velocity_m_s":[-4.05285202395758e-17,5.3684481926543395e-18,1.1110024053386037e-14],"object_angular_velocity_rad_s":[-1.3174517805720301e-17,1.296773843994625e-15,-3.623755428884479e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512373165234,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8637577091995219,-1.5699120772520792,1.2881258376518356,-1.3143854151958285,-1.5708897704505174,-0.2928784924430495,0.0],"actuator_force":[1.2955181306379018,-21.04112257102088,-20.212660971022615,-2.3888325601428733,0.06482289041889544,0.1632044394447405,-0.29319781638924575],"issued_joint_targets_rad":[-1.8670939376955855,-1.5592183757149782,1.2978129286991276,-1.3094091045417864,-1.5708889797423091,-0.29621587159465096],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.420000000000479,"joint_targets_rad":[-1.8670939376955855,-1.5592183757149782,1.2978129286991276,-1.3094091045417864,-1.5708889797423091,-0.29621587159465096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.440000000000485,"qpos":[-1.8349909091138785,-1.5609441417168373,1.3009168732918264,-1.3108081583368387,-1.57089557268314,-0.2641090408555248,0.002933463366663237,0.00015641437100144052,0.0031942194723596404,-0.0034283350201895066,0.002933531232200843,0.00015614394916285904,0.0031970331381432028,-0.003438502947612198,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,1.1384440014613124e-18,2.104736195694376e-17,-8.92048423895863e-08],"qvel":[-0.163759209316201,0.009367280700243001,-0.01578912828768692,0.006768146576435164,-0.0006171111839940835,-0.16216427149686508,-1.9283286798978536e-05,1.5088438488124408e-05,0.0001587347498513891,0.00019832102411946882,-1.1297354507425731e-05,-2.036109772039392e-05,-0.00012431815508452137,-0.00012039181712414376,-2.3888546251787782e-17,2.3212076318937233e-18,1.1050349565812439e-14,-7.165568259579232e-17,-8.816563671352732e-16,-3.9215350343459876e-09],"joint_position_rad":[-1.8349909091138785,-1.5609441417168373,1.3009168732918264,-1.3108081583368387,-1.57089557268314,-0.2641090408555248],"joint_velocity_rad_s":[-0.163759209316201,0.009367280700243001,-0.01578912828768692,0.006768146576435164,-0.0006171111839940835,-0.16216427149686508],"linkage_position_rad":[0.002933463366663237,0.00015641437100144052,0.0031942194723596404,-0.0034283350201895066,0.002933531232200843,0.00015614394916285904,0.0031970331381432028,-0.003438502947612198],"tcp_position_m":[-0.0031943922383035474,0.5012450249340912,0.43296919145116186],"tcp_quaternion_wxyz":[3.3297841987995103e-05,0.7071370236943919,0.7070765353736455,4.1664039077208774e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,1.1384440014613124e-18,2.104736195694376e-17,-8.92048423895863e-08],"object_linear_velocity_m_s":[-2.3888546251787782e-17,2.3212076318937233e-18,1.1050349565812439e-14],"object_angular_velocity_rad_s":[-7.165584005690176e-17,-8.816563543422636e-16,-3.9215350343459925e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512216426933,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8670950963461284,-1.5695976725162049,1.2876540622952601,-1.314231669080138,-1.5708895404706862,-0.2962158737192694,0.0],"actuator_force":[1.295309261980492,-21.053973878832494,-20.20997067805729,-2.3885700292931915,0.06472722462638103,0.1630107178141884,-0.293196826736672],"issued_joint_targets_rad":[-1.8704264179864518,-1.5588859159920585,1.2973253018162134,-1.3092545298009282,-1.570888714876494,-0.2995484509213355],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.440000000000485,"joint_targets_rad":[-1.8704264179864518,-1.5588859159920585,1.2973253018162134,-1.3092545298009282,-1.570888714876494,-0.2995484509213355],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.460000000000492,"qpos":[-1.8383624294710246,-1.5607503137349794,1.3005740690952234,-1.3106596729048252,-1.5708953798744107,-0.26748054468512283,0.0029334618392170184,0.00015641292970108078,0.003194221597653207,-0.003428331697447186,0.0029335299859490523,0.0001561454764147152,0.0031970466725162413,-0.0034384969189741694,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,1.059466198478081e-17,4.6176321644324564e-18,-8.9636999588062e-08],"qvel":[-0.16356397501945824,0.010075593091381143,-0.0165181690153998,0.00679595999002488,-0.0006159432737745077,-0.16196767375419105,-1.939364744908975e-05,1.4956515606057953e-05,0.0001588233718844512,0.00019853207992462835,-1.1357641881766235e-05,-2.0191390550349456e-05,-0.00012308452508584232,-0.00011994041430251088,-7.54967295843661e-18,1.2752235335952969e-17,1.1079492920208848e-14,1.7403039281998853e-16,-6.654184079079464e-16,-1.576334032065354e-08],"joint_position_rad":[-1.8383624294710246,-1.5607503137349794,1.3005740690952234,-1.3106596729048252,-1.5708953798744107,-0.26748054468512283],"joint_velocity_rad_s":[-0.16356397501945824,0.010075593091381143,-0.0165181690153998,0.00679595999002488,-0.0006159432737745077,-0.16196767375419105],"linkage_position_rad":[0.0029334618392170184,0.00015641292970108078,0.003194221597653207,-0.003428331697447186,0.0029335299859490523,0.0001561454764147152,0.0031970466725162413,-0.0034384969189741694],"tcp_position_m":[-0.001486626495096527,0.501318037394628,0.43302485533450885],"tcp_quaternion_wxyz":[3.323288286182467e-05,0.7071370295447392,0.7070765295227295,4.171702887509257e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,1.059466198478081e-17,4.6176321644324564e-18,-8.9636999588062e-08],"object_linear_velocity_m_s":[-7.54967295843661e-18,1.2752235335952969e-17,1.1079492920208848e-14],"object_angular_velocity_rad_s":[1.740302733821883e-16,-6.654184387730465e-16,-1.576334032065356e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512059436166,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.870427679442097,-1.569268910522169,1.287166798933025,-1.3140770984151,-1.5708893069328203,-0.2995484530467045,0.0],"actuator_force":[1.2950900656383055,-21.067430810931455,-20.20727271823671,-2.388308754139871,0.06463079817262951,0.1628131946282565,-0.2931958348116493],"issued_joint_targets_rad":[-1.8737540201391014,-1.5585387891869582,1.296822149836296,-1.3090990984356536,-1.5708884466233741,-0.3028761540059626],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.460000000000492,"joint_targets_rad":[-1.8737540201391014,-1.5585387891869582,1.296822149836296,-1.3090990984356536,-1.5708884466233741,-0.3028761540059626],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.480000000000499,"qpos":[-1.841729816353136,-1.5605418508045095,1.300215968868609,-1.3105105281005467,-1.5708951822936055,-0.27084791766060323,0.0029334603217725233,0.0001564114823978075,0.0031942237213840085,-0.003428328384825681,0.002933528750985623,0.00015614701058914865,0.0031970602491658193,-0.0034384908967281034,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,6.524048933496345e-18,-1.9792937307321305e-18,-8.994543829035472e-08],"qvel":[-0.16336499070772684,0.010784043976821702,-0.017248363787603988,0.006824773022512361,-0.0006147739724418056,-0.1617673112383726,-1.950446415838913e-05,1.4823694826062672e-05,0.00015890918293771523,0.00019874305455292035,-1.141816993202632e-05,-2.0020801306305344e-05,-0.00012184677433204994,-0.00011948729347756287,1.3653236646742667e-17,-1.4622144793692066e-18,1.1054512902154782e-14,-1.0649111720614927e-15,-1.0146106190108838e-15,-6.336368179510826e-08],"joint_position_rad":[-1.841729816353136,-1.5605418508045095,1.300215968868609,-1.3105105281005467,-1.5708951822936055,-0.27084791766060323],"joint_velocity_rad_s":[-0.16336499070772684,0.010784043976821702,-0.017248363787603988,0.006824773022512361,-0.0006147739724418056,-0.1617673112383726],"linkage_position_rad":[0.0029334603217725233,0.0001564114823978075,0.0031942237213840085,-0.003428328384825681,0.002933528750985623,0.00015614701058914865,0.0031970602491658193,-0.0034384908967281034],"tcp_position_m":[0.0002211659307911939,0.5013911531077332,0.43308068786217874],"tcp_quaternion_wxyz":[3.316599160590642e-05,0.7071370344684768,0.7070765245985463,4.177063521587678e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,6.524048933496345e-18,-1.9792937307321305e-18,-8.994543829035472e-08],"object_linear_velocity_m_s":[1.3653236646742667e-17,-1.4622144793692066e-18,1.1054512902154782e-14],"object_angular_velocity_rad_s":[-1.0649113543298397e-15,-1.014610426616289e-15,-6.336368179510834e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313511902180717,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8737553842007844,-1.5689257886284098,1.2866640127287057,-1.313921671063299,-1.5708890698577234,-0.3028761561320659,0.0],"actuator_force":[1.2948605877936643,-21.081493238529674,-20.204566764764877,-2.3880487836273687,0.0645336151852689,0.1626118881059142,-0.29319484046745525],"issued_joint_targets_rad":[-1.8770766702703106,-1.5581769924640354,1.2963034360760621,-1.308942776688924,-1.570888175004819,-0.3061989069561433],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.480000000000499,"joint_targets_rad":[-1.8770766702703106,-1.5581769924640354,1.2963034360760621,-1.308942776688924,-1.570888175004819,-0.3061989069561433],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.500000000000505,"qpos":[-1.845092992323119,-1.5603187494834296,1.2998425473618929,-1.3103607019008354,-1.5708949800595307,-0.27421108227585594,0.0029334588150002525,0.00015641002922477202,0.0031942258449949744,-0.003428325082764461,0.0029335275279724253,0.0001561485515770356,0.003197073868765086,-0.0034384848815043195,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,1.3037223813024791e-18,-5.483999939224906e-18,-9.018569414786542e-08],"qvel":[-0.1631622742577279,0.011492629901064116,-0.017979770361900727,0.006854644853798449,-0.0006136028245046055,-0.16156320220141937,-1.961575898897906e-05,1.4689986206264938e-05,0.00015899226472889126,0.000198954015572931,-1.1478961172322754e-05,-1.9849344343973192e-05,-0.00012060489152319743,-0.00011903240168925194,5.572407389071415e-18,1.4240843379488002e-18,1.1005940644827432e-14,-2.031292249469066e-16,-5.067499745953428e-17,-6.8570548686601415e-09],"joint_position_rad":[-1.845092992323119,-1.5603187494834296,1.2998425473618929,-1.3103607019008354,-1.5708949800595307,-0.27421108227585594],"joint_velocity_rad_s":[-0.1631622742577279,0.011492629901064116,-0.017979770361900727,0.006854644853798449,-0.0006136028245046055,-0.16156320220141937],"linkage_position_rad":[0.0029334588150002525,0.00015641002922477202,0.0031942258449949744,-0.003428325082764461,0.0029335275279724253,0.0001561485515770356,0.003197073868765086,-0.0034384848815043195],"tcp_position_m":[0.001928985105906374,0.5014643735388751,0.4331366933369487],"tcp_quaternion_wxyz":[3.309726980583844e-05,0.7071370384899984,0.7070765205766976,4.182481596498012e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,1.3037223813024791e-18,-5.483999939224906e-18,-9.018569414786542e-08],"object_linear_velocity_m_s":[5.572407389071415e-18,1.4240843379488002e-18,1.1005940644827432e-14],"object_angular_velocity_rad_s":[-2.0312923401201507e-16,-5.0674960802953844e-17,-6.857054868660152e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313511744647576,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8770781367365974,-1.5685683040178304,1.2861456670533713,-1.3137653532654532,-1.5708888292649201,-0.30619890908296454,0.0],"actuator_force":[1.2946208761345588,-21.09616102922746,-20.201852472283008,-2.3877901676886495,0.06443567975566111,0.1624068165876622,-0.29319384354782735],"issued_joint_targets_rad":[-1.8803942948939594,-1.5578005227722402,1.2957691219394631,-1.3087855291095272,-1.570887900041469,-0.3095166362765452],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.500000000000505,"joint_targets_rad":[-1.8803942948939594,-1.5578005227722402,1.2957691219394631,-1.3087855291095272,-1.570887900041469,-0.3095166362765452],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.520000000000512,"qpos":[-1.848451880316328,-1.560081006368237,1.2994537780553648,-1.310210171001172,-1.570894773281595,-0.27756996140371243,0.0029334573196304714,0.00015640857031515358,0.00319422797000198,-0.0034283217917598797,0.002933526317631441,0.00015615009927054643,0.0031970875320698707,-0.0034384788739900544,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-1.253049442227244e-17,-8.859792936119705e-18,-9.058155901619327e-08],"qvel":[-0.16295584367356516,0.012201348693506385,-0.018712449745113924,0.006885636737999624,-0.0006124294149021263,-0.16135536498683298,-1.9727555714964215e-05,1.4555399175194974e-05,0.00015907270006528201,0.0001991650339282187,-1.1540039501212098e-05,-1.9677033638438143e-05,-0.00011935885972062441,-0.00011857568135578396,1.2722630362560248e-17,-1.3853609485104007e-17,1.0985123963115704e-14,-7.523958654249639e-16,6.524249547695383e-17,-2.7563208933586622e-08],"joint_position_rad":[-1.848451880316328,-1.560081006368237,1.2994537780553648,-1.310210171001172,-1.570894773281595,-0.27756996140371243],"joint_velocity_rad_s":[-0.16295584367356516,0.012201348693506385,-0.018712449745113924,0.006885636737999624,-0.0006124294149021263,-0.16135536498683298],"linkage_position_rad":[0.0029334573196304714,0.00015640857031515358,0.00319422797000198,-0.0034283217917598797,0.002933526317631441,0.00015615009927054643,0.0031970875320698707,-0.0034384788739900544],"tcp_position_m":[0.003636831079096623,0.5015377002314848,0.4331928762839752],"tcp_quaternion_wxyz":[3.302680769474547e-05,0.7071370416314037,0.7070765174350792,4.1879536918730494e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-1.253049442227244e-17,-8.859792936119705e-18,-9.058155901619327e-08],"object_linear_velocity_m_s":[1.2722630362560248e-17,-1.3853609485104007e-17,1.0985123963115704e-14],"object_angular_velocity_rad_s":[-7.523958531170102e-16,6.524263109257251e-17,-2.7563208933586665e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313511586822905,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8803958635611409,-1.5681964536536215,1.2856117233685707,-1.31360810956817,-1.570888585172731,-0.30951663840406785,0.0],"actuator_force":[1.2943709797996235,-21.11143404817176,-20.19912947554303,-2.3875329572989585,0.06433699592230369,0.16219799850560435,-0.2931928438870147],"issued_joint_targets_rad":[-1.8837068209156886,-1.5574093767959316,1.2952191667881352,-1.308627318472012,-1.5708876217527858,-0.31282926886356366],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.520000000000512,"joint_targets_rad":[-1.8837068209156886,-1.5574093767959316,1.2952191667881352,-1.308627318472012,-1.5708876217527858,-0.31282926886356366],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.540000000000519,"qpos":[-1.8518064036424695,-1.5598286180649732,1.2990496330863228,-1.3100589107686305,-1.5708945620606227,-0.28092447829724543,0.002933455836460603,0.00015640710580213323,0.003194230098001054,-0.0034283185123682725,0.0029335251207522296,0.00015615165356367016,0.0031971012399274047,-0.003438472874931167,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-1.39983532073342e-17,-5.500412266607797e-18,-9.073997665775876e-08],"qvel":[-0.162745717050396,0.012910199570399272,-0.019446466477427045,0.006917812169218793,-0.0006112533650182088,-0.1611438179961281,-1.9839880064605176e-05,1.4419942530379262e-05,0.0001591505732552474,0.00019937618578118408,-1.16014304156379e-05,-1.9503883013041998e-05,-0.00011810865654394103,-0.00011811706989771505,2.1599362978716974e-18,-5.983558677049791e-17,1.0971246175307885e-14,-2.5422434356333893e-15,8.112581389114881e-16,-1.1079545100169509e-07],"joint_position_rad":[-1.8518064036424695,-1.5598286180649732,1.2990496330863228,-1.3100589107686305,-1.5708945620606227,-0.28092447829724543],"joint_velocity_rad_s":[-0.162745717050396,0.012910199570399272,-0.019446466477427045,0.006917812169218793,-0.0006112533650182088,-0.1611438179961281],"linkage_position_rad":[0.002933455836460603,0.00015640710580213323,0.003194230098001054,-0.0034283185123682725,0.0029335251207522296,0.00015615165356367016,0.0031971012399274047,-0.003438472874931167],"tcp_position_m":[0.005344703880460467,0.5016111348130661,0.4332492414669127],"tcp_quaternion_wxyz":[3.2954685295421535e-05,0.7071370439127099,0.7070765151536696,4.19347710335558e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-1.39983532073342e-17,-5.500412266607797e-18,-9.073997665775876e-08],"object_linear_velocity_m_s":[2.1599362978716974e-18,-5.983558677049791e-17,1.0971246175307885e-14],"object_angular_velocity_rad_s":[-2.5422432871874212e-15,8.112585971757882e-16,-1.1079545100169526e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313511428691909,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8837084915778792,-1.567810234230547,1.2850621410968739,-1.3134499027438695,-1.5708883375983276,-0.3128292709917711,0.0],"actuator_force":[1.2941109493394833,-21.12731215930762,-20.196397387926936,-2.3872772045413058,0.06423756764945665,0.16198545234993844,-0.29319184130824044],"issued_joint_targets_rad":[-1.8870141756258902,-1.5570035509004945,1.2946535277976596,-1.3084681056876877,-1.5708873401570853,-0.31613673199833525],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.540000000000519,"joint_targets_rad":[-1.8870141756258902,-1.5570035509004945,1.2946535277976596,-1.3084681056876877,-1.5708873401570853,-0.31613673199833525],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.560000000000525,"qpos":[-1.855156485986672,-1.5595615811578436,1.2986300831690358,-1.3099068951908117,-1.5708943464895972,-0.28427455659029666,0.0029334543663634433,0.00015640563581886382,0.0031942322306764003,-0.003428315245215831,0.002933523938200149,0.00015615321435256255,0.0031971149932877863,-0.0034384668851408728,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-1.76077606981335e-17,1.1181342312900999e-18,-9.116007939381455e-08],"qvel":[-0.1625319125339434,0.013619183250816751,-0.020181888954375744,0.006951237072051814,-0.0006100743289529495,-0.16092857965088103,-1.995275988553869e-05,1.4283624295019865e-05,0.00015922596976006918,0.00019958755275053776,-1.166316112319274e-05,-1.932990590682358e-05,-0.00011685425264647656,-0.00011765649820544725,8.066182323480166e-19,-2.146110695027724e-17,1.0915735024076627e-14,4.1933771288042126e-16,3.91672650925625e-16,-1.198999908454233e-08],"joint_position_rad":[-1.855156485986672,-1.5595615811578436,1.2986300831690358,-1.3099068951908117,-1.5708943464895972,-0.28427455659029666],"joint_velocity_rad_s":[-0.1625319125339434,0.013619183250816751,-0.020181888954375744,0.006951237072051814,-0.0006100743289529495,-0.16092857965088103],"linkage_position_rad":[0.0029334543663634433,0.00015640563581886382,0.0031942322306764003,-0.003428315245215831,0.002933523938200149,0.00015615321435256255,0.0031971149932877863,-0.0034384668851408728],"tcp_position_m":[0.00705260352019589,0.5016846790018993,0.4333057939056264],"tcp_quaternion_wxyz":[3.288097345781409e-05,0.7071370453520438,0.7070765137143364,4.1990497717647176e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-1.76077606981335e-17,1.1181342312900999e-18,-9.116007939381455e-08],"object_linear_velocity_m_s":[8.066182323480166e-19,-2.146110695027724e-17,1.0915735024076627e-14],"object_angular_velocity_rad_s":[4.19337784263422e-16,3.916725740496667e-16,-1.1989999084542348e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313511270238752,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8870159480751343,-1.5674096421210688,1.284496877478269,-1.3132906937017759,-1.5708880865577708,-0.31613673412721083,0.0],"actuator_force":[1.2938408366530894,-21.143795226777,-20.1936557997833,-2.387022962687297,0.06413739880849789,0.1617691966310133,-0.29319083562313597],"issued_joint_targets_rad":[-1.8903162866908167,-1.5565830410720676,1.2940721597977094,-1.308307849705446,-1.5708870552715528,-0.3194389533378641],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.560000000000525,"joint_targets_rad":[-1.8903162866908167,-1.5565830410720676,1.2940721597977094,-1.308307849705446,-1.5708870552715528,-0.3194389533378641],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.580000000000532,"qpos":[-1.858502051409624,-1.5592798921750815,1.2981950975071392,-1.3097540968201902,-1.5708941266543353,-0.28762012029713074,0.00293345291029625,0.00015640416049779218,0.003194234369808097,-0.0034283119910091357,0.0029335227709255066,0.00015615478153567657,0.0031971287932134455,-0.003438460905508497,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,-1.154673003400498e-18,3.100445390582554e-18,-9.149144290758443e-08],"qvel":[-0.16231444827524433,0.014328302088456445,-0.02091878979203814,0.006985980020203549,-0.0006088919900298618,-0.1607096683496571,-2.006622546086449e-05,1.4146451513324789e-05,0.00015929897593617038,0.0001997992201487003,-1.1725260802535115e-05,-1.9155115416599935e-05,-0.00011559561138796149,-0.00011719389162276153,-1.2370410556336853e-18,9.440039175089684e-18,1.0869938324310835e-14,2.2176567235950632e-15,1.3197008995541915e-17,-4.81960340424376e-08],"joint_position_rad":[-1.858502051409624,-1.5592798921750815,1.2981950975071392,-1.3097540968201902,-1.5708941266543353,-0.28762012029713074],"joint_velocity_rad_s":[-0.16231444827524433,0.014328302088456445,-0.02091878979203814,0.006985980020203549,-0.0006088919900298618,-0.1607096683496571],"linkage_position_rad":[0.00293345291029625,0.00015640416049779218,0.003194234369808097,-0.0034283119910091357,0.0029335227709255066,0.00015615478153567657,0.0031971287932134455,-0.003438460905508497],"tcp_position_m":[0.00876052998733732,0.5017583346144291,0.4333625388957044],"tcp_quaternion_wxyz":[3.280573479622767e-05,0.7071370459658146,0.707076513100668,4.204670218290306e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,-1.154673003400498e-18,3.100445390582554e-18,-9.149144290758443e-08],"object_linear_velocity_m_s":[-1.2370410556336853e-18,9.440039175089684e-18,1.0869938324310835e-14],"object_angular_velocity_rad_s":[2.2176567257109984e-15,1.3196603091013395e-17,-4.819603404243769e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313511111446535,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8903181607172042,-1.5669946733156261,1.2839158874104548,-1.3131304413887297,-1.5708878320660307,-0.3194389554673908,0.0],"actuator_force":[1.293560694937696,-21.160883116472178,-20.190904276553738,-2.3867702862901297,0.06403649315529947,0.16154924983567298,-0.2931898266297708],"issued_joint_targets_rad":[-1.8936130821415669,-1.5561478428505418,1.2934750150937617,-1.308146507400929,-1.5708867671122426,-0.32273586090403655],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.580000000000532,"joint_targets_rad":[-1.8936130821415669,-1.5561478428505418,1.2934750150937617,-1.308146507400929,-1.5708867671122426,-0.32273586090403655],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.600000000000539,"qpos":[-1.8618430243466644,-1.558983547551673,1.2977446436974411,-1.309600486713197,-1.5708939026341058,-0.29096109381109697,0.002933451469311852,0.00015640267997122197,0.0031942365172861462,-0.003428308750543557,0.002933521619974706,0.0001561563550146591,0.0031971426408943663,-0.0034384549370118857,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,6.899861952684169e-18,4.0793547530298416e-18,-9.167418764651743e-08],"qvel":[-0.16209334238003603,0.015037560221564774,-0.02165724624197931,0.0070221124872086975,-0.0006077060574884219,-0.16048710241928663,-2.018030965715033e-05,1.4008430320186863e-05,0.00015936968023679191,0.00020001128180155021,-1.1787760696132508e-05,-1.8979524146584424e-05,-0.00011433268764091939,-0.00011672916703690422,-3.159376395860454e-18,5.511153559024096e-18,1.0856060536503017e-14,-4.280797092258521e-17,5.1844822622950754e-17,-5.215650993094964e-09],"joint_position_rad":[-1.8618430243466644,-1.558983547551673,1.2977446436974411,-1.309600486713197,-1.5708939026341058,-0.29096109381109697],"joint_velocity_rad_s":[-0.16209334238003603,0.015037560221564774,-0.02165724624197931,0.0070221124872086975,-0.0006077060574884219,-0.16048710241928663],"linkage_position_rad":[0.002933451469311852,0.00015640267997122197,0.0031942365172861462,-0.003428308750543557,0.002933521619974706,0.0001561563550146591,0.0031971426408943663,-0.0034384549370118857],"tcp_position_m":[0.01046848324836134,0.5018321035734088,0.4334194820300067],"tcp_quaternion_wxyz":[3.272902454418132e-05,0.7071370457688635,0.707076513297819,4.210337484977948e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,6.899861952684169e-18,4.0793547530298416e-18,-9.167418764651743e-08],"object_linear_velocity_m_s":[-3.159376395860454e-18,5.511153559024096e-18,1.0856060536503017e-14],"object_angular_velocity_rad_s":[-4.280796145947354e-17,5.1844830543696434e-17,-5.215650993094973e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313510952297069,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8936150575333563,-1.5665653233562356,1.2833191232707148,-1.3129691026783474,-1.5708875741369916,-0.3227358630341974,0.0],"actuator_force":[1.2932705786306542,-21.178575697751057,-20.188142356661047,-2.38651923129612,0.06393485430601231,0.1613256303784567,-0.2931888141125615],"issued_joint_targets_rad":[-1.8969044903606564,-1.5556979512548514,1.2928620432676639,-1.3079840334523123,-1.570886475694059,-0.3260273830702184],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.600000000000539,"joint_targets_rad":[-1.8969044903606564,-1.5556979512548514,1.2928620432676639,-1.3079840334523123,-1.570886475694059,-0.3260273830702184],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.6200000000005454,"qpos":[-1.8651793296057044,-1.5586725435885116,1.2972786876239426,-1.3094460343632557,-1.570893674502188,-0.29429740190216835,0.0029334500445705462,0.00015640119437022954,0.0031942386751177914,-0.003428305524717969,0.002933520486502186,0.000156157934694373,0.0031971565376612003,-0.0034384489807250153,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,9.500291865246436e-18,2.06739505326859e-17,-9.212101258896158e-08],"qvel":[-0.16186861285188722,0.015746963743755303,-0.022397340663599694,0.007059709134050441,-0.0006065162633594735,-0.16026090005959773,-2.029504834581829e-05,1.386956562038975e-05,0.00015943817194406462,0.00020022383590668924,-1.1850694455091645e-05,-1.8803144194776985e-05,-0.00011306542692667118,-0.00011626223402879018,-2.7751871435704455e-17,1.1292463359845663e-17,1.0815814951860357e-14,-1.4809171057986655e-16,2.3050053148548e-16,-2.0965280401119522e-08],"joint_position_rad":[-1.8651793296057044,-1.5586725435885116,1.2972786876239426,-1.3094460343632557,-1.570893674502188,-0.29429740190216835],"joint_velocity_rad_s":[-0.16186861285188722,0.015746963743755303,-0.022397340663599694,0.007059709134050441,-0.0006065162633594735,-0.16026090005959773],"linkage_position_rad":[0.0029334500445705462,0.00015640119437022954,0.0031942386751177914,-0.003428305524717969,0.002933520486502186,0.000156157934694373,0.0031971565376612003,-0.0034384489807250153],"tcp_position_m":[0.012176463245648531,0.5019059879169132,0.43347662922251934],"tcp_quaternion_wxyz":[3.265089132760576e-05,0.707137044774599,0.7070765142923758,4.21605107931558e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,9.500291865246436e-18,2.06739505326859e-17,-9.212101258896158e-08],"object_linear_velocity_m_s":[-2.7751871435704455e-17,1.1292463359845663e-17,1.0815814951860357e-14],"object_angular_velocity_rad_s":[-1.4809166897884988e-16,2.305005591685459e-16,-2.096528040111956e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313510792770816,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8969065669044125,-1.5661215872624425,1.2827065347166624,-1.312806632246796,-1.5708873127834373,-0.326027385200996,0.0],"actuator_force":[1.2929705433384697,-21.19687284536394,-20.185369549120878,-2.3862698551752146,0.06383248571125932,0.16109835654594917,-0.293187797839632],"issued_joint_targets_rad":[-1.900190440065831,-1.5552333606994162,1.2922331909538614,-1.307820380200667,-1.5708861810307198,-0.3293134485450998],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.6200000000005454,"joint_targets_rad":[-1.900190440065831,-1.5552333606994162,1.2922331909538614,-1.307820380200667,-1.5708861810307198,-0.3293134485450998],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.640000000000552,"qpos":[-1.8685108923638283,-1.558346876407471,1.2967971933407059,-1.309290707626885,-1.5708934423263778,-0.2976289697132076,0.0029334486373547184,0.00015639970382550476,0.003194240845446467,-0.0034283023145450808,0.002933519371785052,0.00015615952048365233,0.00319717048500275,-0.00343844303783752,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,7.962680015091332e-18,2.4420379049958785e-17,-9.233854644729846e-08],"qvel":[-0.1616402775281542,0.01645652089891695,-0.023139161063117444,0.00709884813941501,-0.0006053223594924471,-0.16003107928068447,-2.0410480717977523e-05,1.3729860940406743e-05,0.0001595045421663867,0.00020043699043290587,-1.1914098381504505e-05,-1.862598705360245e-05,-0.0001117937639322782,-0.00011579299323840586,-8.125807109783557e-17,2.2140588990067854e-17,1.0842182748695203e-14,9.327491791335603e-16,4.57931124328799e-15,-8.42738486297376e-08],"joint_position_rad":[-1.8685108923638283,-1.558346876407471,1.2967971933407059,-1.309290707626885,-1.5708934423263778,-0.2976289697132076],"joint_velocity_rad_s":[-0.1616402775281542,0.01645652089891695,-0.023139161063117444,0.00709884813941501,-0.0006053223594924471,-0.16003107928068447],"linkage_position_rad":[0.0029334486373547184,0.00015639970382550476,0.003194240845446467,-0.0034283023145450808,0.002933519371785052,0.00015615952048365233,0.00319717048500275,-0.00343844303783752],"tcp_position_m":[0.013884469895774848,0.5019799898083372,0.4335339867348291],"tcp_quaternion_wxyz":[3.257137787073134e-05,0.7071370429951174,0.7070765160722405,4.2218109223818495e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,7.962680015091332e-18,2.4420379049958785e-17,-9.233854644729846e-08],"object_linear_velocity_m_s":[-8.125807109783557e-17,2.2140588990067854e-17,1.0842182748695203e-14],"object_angular_velocity_rad_s":[9.327500207114354e-16,4.579311072372605e-15,-8.427384862973774e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313510632846742,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.900192617546571,-1.5656634594484866,1.2820780684626631,-1.3126429824331471,-1.5708870480170207,-0.32931345067647666,0.0],"actuator_force":[1.2926606457763228,-21.215774441598114,-20.18258533083872,-2.3860222170725365,0.06372939062782734,0.16086744643396855,-0.2931867775614911],"issued_joint_targets_rad":[-1.9034708602907204,-1.554754064900349,1.2915884015874572,-1.3076554974924672,-1.5708858831346955,-0.33259398635338394],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.640000000000552,"joint_targets_rad":[-1.9034708602907204,-1.554754064900349,1.2915884015874572,-1.3076554974924672,-1.5708858831346955,-0.33259398635338394],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.660000000000559,"qpos":[-1.8718376381624002,-1.5580065419018154,1.2963001229419495,-1.3091344726418188,-1.5708932061694514,-0.3009557227547822,0.0029334472490851397,0.00015639820846629547,0.003194243030564373,-0.0034282991211714584,0.0029335182772394766,0.00015616111229605357,0.0031971844845858667,-0.003438437109666492,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,8.69087280107485e-18,3.265563636351053e-17,-9.26580873135274e-08],"qvel":[-0.16140835400760115,0.01716624230425022,-0.02388280171037063,0.0071396115795718945,-0.000604124114648257,-0.15979765783155284,-2.0526649643755745e-05,1.3589318341583456e-05,0.00015956888364845355,0.00020065086085274317,-1.1978011690996435e-05,-1.8448063450564427e-05,-0.00011051762111222366,-0.00011532133425042172,-3.710598772895774e-17,9.96438194137965e-18,1.0821366066983476e-14,-2.0320337564306633e-16,-8.7854465274648405e-16,-9.119899407296311e-09],"joint_position_rad":[-1.8718376381624002,-1.5580065419018154,1.2963001229419495,-1.3091344726418188,-1.5708932061694514,-0.3009557227547822],"joint_velocity_rad_s":[-0.16140835400760115,0.01716624230425022,-0.02388280171037063,0.0071396115795718945,-0.000604124114648257,-0.15979765783155284],"linkage_position_rad":[0.0029334472490851397,0.00015639820846629547,0.003194243030564373,-0.0034282991211714584,0.0029335182772394766,0.00015616111229605357,0.0031971844845858667,-0.003438437109666492],"tcp_position_m":[0.015592503087614127,0.5020541115475172,0.4335915612055969],"tcp_quaternion_wxyz":[3.249052164070223e-05,0.7071370404413027,0.7070765186265247,4.227617300346069e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,8.69087280107485e-18,3.265563636351053e-17,-9.26580873135274e-08],"object_linear_velocity_m_s":[-3.710598772895774e-17,9.96438194137965e-18,1.0821366066983476e-14],"object_angular_velocity_rad_s":[-2.0320353904722976e-16,-8.785446149310786e-16,-9.11989940729633e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313510472502122,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.903473138492079,-1.5651909336303105,1.2814336680281135,-1.312478103081877,-1.5708867798482087,-0.3325939884853423,0.0],"actuator_force":[1.292340943682575,-21.235280378690277,-20.17978914352352,-2.385776377986417,0.06362557208615272,0.16063291787526168,-0.293185753009557],"issued_joint_targets_rad":[-1.9067456803618514,-1.554260056769819,1.2909276151196105,-1.307489332501373,-1.5708855820171328,-0.33586892581284367],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.660000000000559,"joint_targets_rad":[-1.9067456803618514,-1.554260056769819,1.2909276151196105,-1.307489332501373,-1.5708855820171328,-0.33586892581284367],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.6800000000005655,"qpos":[-1.8751594929004822,-1.5576515356812535,1.2957874364174966,-1.3089772937359339,-1.570892966089576,-0.30427758689832846,0.002933445881340339,0.00015639670842059543,0.0031942452329329196,-0.0034282959458970656,0.0029335172044400544,0.00015616271005043482,0.003197198538278191,-0.003438431197674015,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,8.485785778740103e-18,4.430379557991656e-17,-9.305627286101504e-08],"qvel":[-0.16117285956826002,0.01787614120608196,-0.024628363846646267,0.007182085866198758,-0.0006029213117242923,-0.15956065311876902,-2.0643602205064815e-05,1.3447938065223295e-05,0.000159631290747803,0.00020086557235398495,-1.2042476935956792e-05,-1.82693832982671e-05,-0.00010923690705265294,-0.00011484713519185713,-6.650462148327015e-17,1.1175842831856815e-17,1.0794998270148632e-14,-1.216203523093723e-16,5.26825320579008e-16,-3.6659133933062355e-08],"joint_position_rad":[-1.8751594929004822,-1.5576515356812535,1.2957874364174966,-1.3089772937359339,-1.570892966089576,-0.30427758689832846],"joint_velocity_rad_s":[-0.16117285956826002,0.01787614120608196,-0.024628363846646267,0.007182085866198758,-0.0006029213117242923,-0.15956065311876902],"linkage_position_rad":[0.002933445881340339,0.00015639670842059543,0.0031942452329329196,-0.0034282959458970656,0.0029335172044400544,0.00015616271005043482,0.003197198538278191,-0.003438431197674015],"tcp_position_m":[0.01730056268021788,0.502128355583138,0.43364935968345086],"tcp_quaternion_wxyz":[3.240835543719433e-05,0.7071370371229199,0.7070765219454601,4.233470817488828e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,8.485785778740103e-18,4.430379557991656e-17,-9.305627286101504e-08],"object_linear_velocity_m_s":[-6.650462148327015e-17,1.1175842831856815e-17,1.0794998270148632e-14],"object_angular_velocity_rad_s":[-1.2162025750884636e-16,5.268253438362368e-16,-3.665913393306243e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313510311712349,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9067480590662602,-1.5647040027208081,1.2807732734530815,-1.3123119413646405,-1.570886508286211,-0.33586892794536544,0.0],"actuator_force":[1.2920114957482838,-21.255390561541844,-20.176980390171593,-2.3855324009731476,0.06352103285496469,0.16039478835841692,-0.29318472389331457],"issued_joint_targets_rad":[-1.9100148298714408,-1.5537513282966005,1.2902507676948152,-1.3073218295258144,-1.570885277687753,-0.3391381965071595],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.6800000000005655,"joint_targets_rad":[-1.9100148298714408,-1.5537513282966005,1.2902507676948152,-1.3073218295258144,-1.570885277687753,-0.3391381965071595],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.700000000000572,"qpos":[-1.8784763828263225,-1.5572818530108359,1.2952590914913538,-1.3088191333255466,-1.5708927221406899,-0.3075944883674252,0.0029334445358790585,0.0001563952038149015,0.0031942474552047067,-0.0034282927901943183,0.002933516155142311,0.00015616431367166872,0.0031972126481723383,-0.003438425303497209,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,5.963217152905843e-18,3.5362822150956056e-17,-9.319527317490414e-08],"qvel":[-0.16093381107383392,0.0185862337743463,-0.025375956499889153,0.007226362252390239,-0.0006017137449967891,-0.15932008211334203,-2.0761390207243202e-05,1.3305718301107778e-05,0.0001596918599096115,0.00020108126122187424,-1.2107540396638433e-05,-1.808995551299181e-05,-0.00010795151455547575,-0.00011437026165334515,-4.1972135600043194e-17,6.805544404743093e-18,1.077001825209457e-14,-3.054243205042139e-16,-1.5172556445420315e-15,-3.967157300445803e-09],"joint_position_rad":[-1.8784763828263225,-1.5572818530108359,1.2952590914913538,-1.3088191333255466,-1.5708927221406899,-0.3075944883674252],"joint_velocity_rad_s":[-0.16093381107383392,0.0185862337743463,-0.025375956499889153,0.007226362252390239,-0.0006017137449967891,-0.15932008211334203],"linkage_position_rad":[0.0029334445358790585,0.0001563952038149015,0.0031942474552047067,-0.0034282927901943183,0.002933516155142311,0.00015616431367166872,0.0031972126481723383,-0.003438425303497209],"tcp_position_m":[0.019008648500441427,0.5022027245266224,0.43370738966383116],"tcp_quaternion_wxyz":[3.232490793633493e-05,0.7071370330486868,0.7070765260203256,4.2393723514952627e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,5.963217152905843e-18,3.5362822150956056e-17,-9.319527317490414e-08],"object_linear_velocity_m_s":[-4.1972135600043194e-17,6.805544404743093e-18,1.077001825209457e-14],"object_angular_velocity_rad_s":[-3.054246035868975e-16,-1.517255587566488e-15,-3.967157300445811e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313510150450734,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9100173088603287,-1.5642026587113593,1.2800968209758552,-1.3121444415778474,-1.5708862333388858,-0.33913819864022643,0.0],"actuator_force":[1.2916723615207957,-21.276104910785307,-20.174158431041178,-2.3852903513894717,0.0634157754016087,0.1601530749335609,-0.2931836898980491],"issued_joint_targets_rad":[-1.9132782386452856,-1.5532278704104696,1.2895577912835618,-1.307152929758243,-1.570884970154722,-0.3424017282538647],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.700000000000572,"joint_targets_rad":[-1.9132782386452856,-1.5532278704104696,1.2895577912835618,-1.307152929758243,-1.570884970154722,-0.3424017282538647],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.720000000000579,"qpos":[-1.8817882345266357,-1.5568974887427343,1.2947150434407972,-1.3086599518013873,-1.5708924743728336,-0.31090635372689907,0.0029334432146668706,0.0001563936947740243,0.0031942497002492545,-0.0034282896557366253,0.0029335151313093512,0.00015616592309172892,0.0031972268166180077,-0.0034384194289636856,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999967,3.133109693852387e-18,2.1487244053835268e-17,-9.363245799407754e-08],"qvel":[-0.16069122486661547,0.01929653944271618,-0.02612569742691206,0.007272537419143025,-0.0006005012173751099,-0.15907596124385098,-2.0880070779714517e-05,1.31626549824409e-05,0.00015975068981106236,0.0002012980766122431,-1.2173252540203298e-05,-1.7909787916613123e-05,-0.00010666131834156101,-0.00011389056388770086,-2.6618208384737834e-17,6.1225582780579305e-18,1.0776957145998477e-14,-3.066129056414628e-16,-1.123446002228576e-15,-1.594672751480487e-08],"joint_position_rad":[-1.8817882345266357,-1.5568974887427343,1.2947150434407972,-1.3086599518013873,-1.5708924743728336,-0.31090635372689907],"joint_velocity_rad_s":[-0.16069122486661547,0.01929653944271618,-0.02612569742691206,0.007272537419143025,-0.0006005012173751099,-0.15907596124385098],"linkage_position_rad":[0.0029334432146668706,0.0001563936947740243,0.0031942497002492545,-0.0034282896557366253,0.0029335151313093512,0.00015616592309172892,0.0031972268166180077,-0.0034384194289636856],"tcp_position_m":[0.02071676034027314,0.5022772211677289,0.43376565913037557],"tcp_quaternion_wxyz":[3.2240204192436834e-05,0.7071370282263398,0.707076530843382,4.2453230086213586e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999967,3.133109693852387e-18,2.1487244053835268e-17,-9.363245799407754e-08],"object_linear_velocity_m_s":[-2.6618208384737834e-17,6.1225582780579305e-18,1.0776957145998477e-14],"object_angular_velocity_rad_s":[-3.066131167087818e-16,-1.1234459447107928e-15,-1.5946727514804903e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313509988688218,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9132808176993017,-1.563686892537326,1.2794042426659094,-1.3119755449119044,-1.5708859550126164,-0.34240173038745825,0.0],"actuator_force":[1.2913236013141614,-21.297423366269868,-20.171322579010848,-2.3850502971728247,0.0633098018461169,0.15990779410549294,-0.2931826506822115],"issued_joint_targets_rad":[-1.916535836704899,-1.5526896728275992,1.2888486132624581,-1.3069825710209961,-1.5708846594244912,-0.34565945106654417],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.720000000000579,"joint_targets_rad":[-1.916535836704899,-1.5526896728275992,1.2888486132624581,-1.3069825710209961,-1.5708846594244912,-0.34565945106654417],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.7400000000005855,"qpos":[-1.8850949749133519,-1.5564984372397688,1.2941552448928424,-1.3084997074002487,-1.5708922228324576,-0.31421310986943085,0.002933441919907385,0.00015639218142083117,0.0031942519711833156,-0.003428286544429251,0.002933514135143076,0.0001561675382507214,0.003197241046255962,-0.003438413576131629,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,1.0775841728312294e-18,9.029425603629714e-18,-9.394448500360955e-08],"qvel":[-0.16044511664430205,0.020007081303021847,-0.0268777142067967,0.007320714157589418,-0.000599283537604485,-0.15882830627316455,-2.0999707163875045e-05,1.3018741256844047e-05,0.00015980788135838388,0.0002015161811947121,-1.2239668627357146e-05,-1.7728886974032606e-05,-0.00010536617216742511,-0.00011340787505019552,-7.314392434253764e-18,-6.608857098609364e-18,1.1401457597350131e-14,1.8086496104797572e-16,-1.5023955096292643e-15,-6.410084077164187e-08],"joint_position_rad":[-1.8850949749133519,-1.5564984372397688,1.2941552448928424,-1.3084997074002487,-1.5708922228324576,-0.31421310986943085],"joint_velocity_rad_s":[-0.16044511664430205,0.020007081303021847,-0.0268777142067967,0.007320714157589418,-0.000599283537604485,-0.15882830627316455],"linkage_position_rad":[0.002933441919907385,0.00015639218142083117,0.0031942519711833156,-0.003428286544429251,0.002933514135143076,0.0001561675382507214,0.003197241046255962,-0.003438413576131629],"tcp_position_m":[0.02242489795382448,0.502351848492128,0.4338241766015857],"tcp_quaternion_wxyz":[3.215426610961408e-05,0.707137022662682,0.7070765364078234,4.251324079101874e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,1.0775841728312294e-18,9.029425603629714e-18,-9.394448500360955e-08],"object_linear_velocity_m_s":[-7.314392434253764e-18,-6.608857098609364e-18,1.1401457597350131e-14],"object_angular_velocity_rad_s":[1.8086467760684013e-16,-1.5023955434736207e-15,-6.410084077164185e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313509826393095,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.916538515604163,-1.5631566939246793,1.278695466004366,-1.3118051891870717,-1.5708856733121603,-0.3456594532006455,0.0],"actuator_force":[1.2909652760986319,-21.319345891030025,-20.168472094233948,-2.384812309170343,0.06320311390902589,0.15965896170914107,-0.2931816058735669],"issued_joint_targets_rad":[-1.919787554222891,-1.552136723873485,1.2881231559321968,-1.3068106874626628,-1.570884345501607,-0.34891129511028424],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.7400000000005855,"joint_targets_rad":[-1.919787554222891,-1.552136723873485,1.2881231559321968,-1.3068106874626628,-1.570884345501607,-0.34891129511028424],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.760000000000592,"qpos":[-1.888396531207435,-1.5560846922893254,1.2935796455943633,-1.308338356059898,-1.5708919675626858,-0.3175146839992688,0.00293344065407953,0.00015639066387630114,0.0031942542714077423,-0.0034282834584490676,0.002933513169121452,0.00015616915909809326,0.0031972553400599936,-0.0034384077473213607,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,5.705638115529863e-19,2.3030195421091164e-18,-9.418753594431322e-08],"qvel":[-0.16019550131767082,0.020717886564646442,-0.027632145515256487,0.007371002165659017,-0.0005980605174294946,-0.15857713215569186,-2.1120369524065065e-05,1.2873967147021855e-05,0.00015986353821940697,0.00020173575449969623,-1.2306849326104188e-05,-1.7547257616902118e-05,-0.00010406590589657396,-0.00011292200861205077,-4.199459326810215e-18,-5.922575838222176e-19,1.1674850017164077e-14,4.39636579875335e-17,-3.459844616818052e-16,-6.936828319409808e-09],"joint_position_rad":[-1.888396531207435,-1.5560846922893254,1.2935796455943633,-1.308338356059898,-1.5708919675626858,-0.3175146839992688],"joint_velocity_rad_s":[-0.16019550131767082,0.020717886564646442,-0.027632145515256487,0.007371002165659017,-0.0005980605174294946,-0.15857713215569186],"linkage_position_rad":[0.00293344065407953,0.00015639066387630114,0.0031942542714077423,-0.0034282834584490676,0.002933513169121452,0.00015616915909809326,0.0031972553400599936,-0.0034384077473213607],"tcp_position_m":[0.024133061053915106,0.5024266097012876,0.43388295118363135],"tcp_quaternion_wxyz":[3.206711288472693e-05,0.7071370163636205,0.7070765427077398,4.25737699094456e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,5.705638115529863e-19,2.3030195421091164e-18,-9.418753594431322e-08],"object_linear_velocity_m_s":[-4.199459326810215e-18,-5.922575838222176e-19,1.1674850017164077e-14],"object_angular_velocity_rad_s":[4.3963592780733573e-17,-3.459844699555405e-16,-6.936828319409808e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931350966353064,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9197903327472743,-1.5626120512143142,1.2779704134023484,-1.3116333085498164,-1.5708853882404676,-0.34891129724487424,0.0],"actuator_force":[1.2905974473897004,-21.341872475836226,-20.165606177927202,-2.3845764615250573,0.06309571285203219,0.15940659276648717,-0.29318055506579827],"issued_joint_targets_rad":[-1.923033321470328,-1.5515690102791564,1.2873813359615707,-1.3066372092074328,-1.5708840283884766,-0.35215719064911993],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.760000000000592,"joint_targets_rad":[-1.923033321470328,-1.5515690102791564,1.2873813359615707,-1.3066372092074328,-1.5708840283884766,-0.35215719064911993],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.780000000000599,"qpos":[-1.8916928309192915,-1.5556562470060307,1.2929881921513622,-1.308175851254359,-1.5708917086035574,-0.32081100361257575,0.002933439419981698,0.00015638914225909618,0.003194256604649266,-0.0034282804002856103,0.002933512236042636,0.0001561707855938711,0.0031972697013832644,-0.0034384019451663772,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,8.036723579101605e-18,9.291332678920204e-18,-9.458800621644517e-08],"qvel":[-0.1599423928451932,0.021428987092084982,-0.028389142616788234,0.007423518982339652,-0.0005968319685757372,-0.15832245287120916,-2.124213597801423e-05,1.2728319036640033e-05,0.0001599177670203138,0.00020195699416946107,-1.2374861502649965e-05,-1.736490294271236e-05,-0.00010276032123638553,-0.00011243275596106687,-1.3719152268726018e-17,1.1505786264606416e-17,1.1701217813998928e-14,5.020634033536023e-16,4.1250138038835326e-16,-2.7883873173915934e-08],"joint_position_rad":[-1.8916928309192915,-1.5556562470060307,1.2929881921513622,-1.308175851254359,-1.5708917086035574,-0.32081100361257575],"joint_velocity_rad_s":[-0.1599423928451932,0.021428987092084982,-0.028389142616788234,0.007423518982339652,-0.0005968319685757372,-0.15832245287120916],"linkage_position_rad":[0.002933439419981698,0.00015638914225909618,0.003194256604649266,-0.0034282804002856103,0.002933512236042636,0.0001561707855938711,0.0031972697013832644,-0.0034384019451663772],"tcp_position_m":[0.025841249308185613,0.5025015082350577,0.4339419926303451],"tcp_quaternion_wxyz":[3.197876143355541e-05,0.7071370093341891,0.7070765497380944,4.2634832612579304e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,8.036723579101605e-18,9.291332678920204e-18,-9.458800621644517e-08],"object_linear_velocity_m_s":[-1.3719152268726018e-17,1.1505786264606416e-17,1.1701217813998928e-14],"object_angular_velocity_rad_s":[5.020634808708029e-16,4.1250128585818325e-16,-2.7883873173915934e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313509500062743,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9230361993997713,-1.5620529511598278,1.2772290016454362,-1.311459833122153,-1.5708850997984563,-0.3521571927841793,0.0],"actuator_force":[1.2902201771175896,-21.3650031444281,-20.162723965136593,-2.384342832130983,0.06298759940818854,0.15915070131913467,-0.29317949781381336],"issued_joint_targets_rad":[-1.9262730687545415,-1.5509865169454424,1.2866230637430063,-1.3064620619481826,-1.5708837080850884,-0.35539706798393744],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.780000000000599,"joint_targets_rad":[-1.9262730687545415,-1.5509865169454424,1.2866230637430063,-1.3064620619481826,-1.5708837080850884,-0.35539706798393744],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.800000000000606,"qpos":[-1.8949838018252154,-1.5552130937212005,1.2923808277319477,-1.308012143806077,-1.5708914459922352,-0.3241019964738411,0.0029334382207851415,0.00015638761668576245,0.003194258975012078,-0.0034282773727972314,0.00293351133907832,0.00015617241771053133,0.0031972841340176575,-0.0034383961726591142,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,6.563754993461485e-18,8.09650086383863e-18,-9.474826685360706e-08],"qvel":[-0.15968580403974045,0.022140420037109275,-0.029148871120600297,0.007478391088515115,-0.0005955976995720468,-0.15806428123035743,-2.1365093800267683e-05,1.2581779095566668e-05,0.0001599706782279584,0.00020218012000892933,-1.2443779138123749e-05,-1.7181824006355425e-05,-0.00010144918779900182,-0.00011193988204184427,-1.8344168277889367e-18,-6.165434458036704e-17,1.1712320044245181e-14,-5.377922831097781e-15,-8.074895290794309e-16,-1.1208442062831488e-07],"joint_position_rad":[-1.8949838018252154,-1.5552130937212005,1.2923808277319477,-1.308012143806077,-1.5708914459922352,-0.3241019964738411],"joint_velocity_rad_s":[-0.15968580403974045,0.022140420037109275,-0.029148871120600297,0.007478391088515115,-0.0005955976995720468,-0.15806428123035743],"linkage_position_rad":[0.0029334382207851415,0.00015638761668576245,0.003194258975012078,-0.0034282773727972314,0.00293351133907832,0.00015617241771053133,0.0031972841340176575,-0.0034383961726591142],"tcp_position_m":[0.02754946233465936,0.5025765477974271,0.4340013114116693],"tcp_quaternion_wxyz":[3.18892268045076e-05,0.707137001578559,0.7070765574947138,4.269644443789482e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,6.563754993461485e-18,8.09650086383863e-18,-9.474826685360706e-08],"object_linear_velocity_m_s":[-1.8344168277889367e-18,-6.165434458036704e-17,1.1712320044245181e-14],"object_angular_velocity_rad_s":[-5.3779229859291345e-15,-8.07488508510292e-16,-1.1208442062831488e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313509335947376,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.926276045869418,-1.5614793786935661,1.2764711412496956,-1.311284688594715,-1.570884807984745,-0.35539707011944655,0.0],"actuator_force":[1.2898335274912824,-21.388737959574883,-20.159824516264052,-2.384111503170516,0.06287877370232309,0.158891300233023,-0.2931784336284811],"issued_joint_targets_rad":[-1.9295067263454813,-1.550389226668765,1.2858482426415263,-1.3062851664717852,-1.5708833845886758,-0.358630857378948],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.800000000000606,"joint_targets_rad":[-1.9295067263454813,-1.550389226668765,1.2858482426415263,-1.3062851664717852,-1.5708833845886758,-0.358630857378948],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.820000000000612,"qpos":[-1.8982693719391526,-1.5547552238566535,1.2917574917263874,-1.3078471816706856,-1.5708911797631901,-0.3273875905876637,0.002933437060098017,0.00015638608727067759,0.003194261387040245,-0.0034282743792750947,0.002933510481837629,0.00015617405543461843,0.0031972986422600463,-0.003438390433223841,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,-1.1958282507563317e-17,3.6292479567776566e-18,-9.517325697142757e-08],"qvel":[-0.15942574634136894,0.02285222858632848,-0.02991151305812122,0.007535755210723525,-0.0005943575122460214,-0.1578026286457962,-2.1489340857966774e-05,1.2434324466087768e-05,0.00016002238605994286,0.00020240537657424375,-1.2513684414232706e-05,-1.699801935494908e-05,-0.00010013223714588447,-0.00011144312229595077,-4.2611720268001956e-18,-1.4637414384943982e-17,1.1784484540845817e-14,-9.602959471769963e-17,-2.4800275518551044e-16,-1.2129488066297058e-08],"joint_position_rad":[-1.8982693719391526,-1.5547552238566535,1.2917574917263874,-1.3078471816706856,-1.5708911797631901,-0.3273875905876637],"joint_velocity_rad_s":[-0.15942574634136894,0.02285222858632848,-0.02991151305812122,0.007535755210723525,-0.0005943575122460214,-0.1578026286457962],"linkage_position_rad":[0.002933437060098017,0.00015638608727067759,0.003194261387040245,-0.0034282743792750947,0.002933510481837629,0.00015617405543461843,0.0031972986422600463,-0.003438390433223841],"tcp_position_m":[0.029257699696638183,0.5026517323860377,0.43406091879209696],"tcp_quaternion_wxyz":[3.179852259345864e-05,0.7071369931000323,0.7070765659742927,4.2758620701437e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,-1.1958282507563317e-17,3.6292479567776566e-18,-9.517325697142757e-08],"object_linear_velocity_m_s":[-4.2611720268001956e-18,-1.4637414384943982e-17,1.1784484540845817e-14],"object_angular_velocity_rad_s":[-9.602964201219967e-17,-2.4800273719670304e-16,-1.2129488066297061e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313509171138064,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.929509802427007,-1.5608913166544514,1.2756967357112166,-1.3111077957520503,-1.5708845127953297,-0.358630859514887,0.0],"actuator_force":[1.2894375608389055,-21.41307703012717,-20.156906807093037,-2.3838825617547172,0.06276923515474664,0.15862840096795594,-0.2931773619704213],"issued_joint_targets_rad":[-1.932734224388199,-1.5497771198203325,1.2850567681145395,-1.306106438102258,-1.5708830578933128,-0.36185848897430095],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.820000000000612,"joint_targets_rad":[-1.932734224388199,-1.5497771198203325,1.2850567681145395,-1.306106438102258,-1.5708830578933128,-0.36185848897430095],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.840000000000619,"qpos":[-1.9015494694789414,-1.5542826277799309,1.2911181193560946,-1.3076809096891617,-1.5708909099483606,-0.3306677141650556,0.0029334359420434782,0.00015638455412625882,0.0031942638457912224,-0.003428271423525445,0.0029335096684450835,0.00015617569876936172,0.0031973132309946165,-0.0034383847307908446,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,-3.043988199123807e-17,-9.94943717223404e-19,-9.55084754945932e-08],"qvel":[-0.15916222954843648,0.02356446285031412,-0.030677269355242905,0.007595759873911847,-0.0005931111978748477,-0.15753750486102353,-2.1614987307988373e-05,1.2285926431359395e-05,0.00016007300976093032,0.00020263303782544034,-1.2584668992651515e-05,-1.6813484576787808e-05,-9.880915593738255e-05,-0.00011094217524056065,5.331525376868184e-18,-5.714416907233269e-17,1.1801137886215196e-14,-2.741527991739884e-15,-6.7853255903765215e-16,-4.875673597959078e-08],"joint_position_rad":[-1.9015494694789414,-1.5542826277799309,1.2911181193560946,-1.3076809096891617,-1.5708909099483606,-0.3306677141650556],"joint_velocity_rad_s":[-0.15916222954843648,0.02356446285031412,-0.030677269355242905,0.007595759873911847,-0.0005931111978748477,-0.15753750486102353],"linkage_position_rad":[0.0029334359420434782,0.00015638455412625882,0.0031942638457912224,-0.003428271423525445,0.0029335096684450835,0.00015617569876936172,0.0031973132309946165,-0.0034383847307908446],"tcp_position_m":[0.030965960896813714,0.5027270663261634,0.4341208269210042],"tcp_quaternion_wxyz":[3.17066613672669e-05,0.7071369839010212,0.7070765751744174,4.282137583605244e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,-3.043988199123807e-17,-9.94943717223404e-19,-9.55084754945932e-08],"object_linear_velocity_m_s":[5.331525376868184e-18,-5.714416907233269e-17,1.1801137886215196e-14],"object_angular_velocity_rad_s":[-2.7415281212540354e-15,-6.785320383276205e-16,-4.8756735979590794e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313509005583204,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9327373992189096,-1.5602887454695056,1.274905680626561,-1.3109290699157539,-1.5708842142231947,-0.3618584911106497,0.0],"actuator_force":[1.2890323394385632,-21.438020519275142,-20.15396971696964,-2.383656100687176,0.06265898237040801,0.1583620133052932,-0.2931762822429249],"issued_joint_targets_rad":[-1.9359554927984692,-1.5491501739684255,1.2842485266739037,-1.3059257860435807,-1.5708827279894269,-0.36507989268187474],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.840000000000619,"joint_targets_rad":[-1.9359554927984692,-1.5491501739684255,1.2842485266739037,-1.3059257860435807,-1.5708827279894269,-0.36507989268187474],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.860000000000626,"qpos":[-1.904824022825976,-1.553795294637259,1.290462641221484,-1.3075132693008895,-1.5708906365772906,-0.3339422955832188,0.002933434871354838,0.00015638301736340657,0.0031942663569278443,-0.0034282685099620933,0.0029335089036354144,0.00015617734773671835,0.003197327905789269,-0.003438379069899646,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,-3.168094246345819e-17,-2.5017670281780468e-18,-9.569334624516095e-08],"qvel":[-0.15889526149726416,0.02427718092787982,-0.03144636279265258,0.0076585672619433305,-0.0005918585328194469,-0.15726891762719516,-2.1742157699885532e-05,1.213654932148488e-05,0.00016012267431656654,0.00020286341281317642,-1.2656835608200176e-05,-1.6628211833221256e-05,-9.747957817565222e-05,-0.0001104366992732031,2.68398585920949e-18,-3.424656093723828e-17,1.1799750107434415e-14,1.1280387009603921e-15,1.0086084145047925e-16,-5.2763287163442536e-09],"joint_position_rad":[-1.904824022825976,-1.553795294637259,1.290462641221484,-1.3075132693008895,-1.5708906365772906,-0.3339422955832188],"joint_velocity_rad_s":[-0.15889526149726416,0.02427718092787982,-0.03144636279265258,0.0076585672619433305,-0.0005918585328194469,-0.15726891762719516],"linkage_position_rad":[0.002933434871354838,0.00015638301736340657,0.0031942663569278443,-0.0034282685099620933,0.0029335089036354144,0.00015617734773671835,0.003197327905789269,-0.003438379069899646],"tcp_position_m":[0.03267424537042913,0.5028025543100345,0.4341810489372183],"tcp_quaternion_wxyz":[3.161365511041329e-05,0.7071369739830048,0.7070765850936064,4.288472261607402e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,-3.168094246345819e-17,-2.5017670281780468e-18,-9.569334624516095e-08],"object_linear_velocity_m_s":[2.68398585920949e-18,-3.424656093723828e-17,1.1799750107434415e-14],"object_angular_velocity_rad_s":[1.1280387202901948e-15,1.0086062522456332e-16,-5.276328716344254e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313508839225236,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9359587661627657,-1.5596716427788258,1.274097862655589,-1.3107484202872646,-1.5708839122578446,-0.36507989481861297,0.0],"actuator_force":[1.2886179253264345,-21.463568654285154,-20.15101201472862,-2.3834322193818025,0.06254801300485724,0.15809214502243663,-0.2931751937829722],"issued_joint_targets_rad":[-1.9391704611376839,-1.5485083634306995,1.2834233946539133,-1.3057431125990564,-1.5708823948632078,-0.3682949980603621],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.860000000000626,"joint_targets_rad":[-1.9391704611376839,-1.5485083634306995,1.2834233946539133,-1.3057431125990564,-1.5708823948632078,-0.3682949980603621],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.880000000000632,"qpos":[-1.9080929604769694,-1.55329321215969,1.2897909827761647,-1.3073441982095801,-1.570890359677244,-0.3372112633374928,0.0029334338534928745,0.00015638147709184168,0.003194268926826917,-0.003428265643735219,0.002933508192870521,0.00015617900238085124,0.0031973426730139563,-0.0034383734558196617,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,-3.437386601303225e-17,-2.266204587527823e-18,-9.614536944957374e-08],"qvel":[-0.15862484767771087,0.024990450188594932,-0.03221904157463007,0.007724355461624592,-0.0005905992735030486,-0.1569968723149114,-2.1870993463386367e-05,1.1986149206994613e-05,0.00016017151137918495,0.00020309685014727462,-1.2730299924465443e-05,-1.6442189087622455e-05,-9.61430746860456e-05,-0.00010992630279172094,2.723877549220993e-18,-4.216006892111862e-17,1.1892731285746774e-14,8.886849495314641e-16,3.309464627130743e-17,-2.1209185808848855e-08],"joint_position_rad":[-1.9080929604769694,-1.55329321215969,1.2897909827761647,-1.3073441982095801,-1.570890359677244,-0.3372112633374928],"joint_velocity_rad_s":[-0.15862484767771087,0.024990450188594932,-0.03221904157463007,0.007724355461624592,-0.0005905992735030486,-0.1569968723149114],"linkage_position_rad":[0.0029334338534928745,0.00015638147709184168,0.003194268926826917,-0.003428265643735219,0.002933508192870521,0.00015617900238085124,0.0031973426730139563,-0.0034383734558196617],"tcp_position_m":[0.03438255247729408,0.5028782014426046,0.43424159909072646],"tcp_quaternion_wxyz":[3.151951571047616e-05,0.7071369633464675,0.7070765957313734,4.294867123414575e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,-3.437386601303225e-17,-2.266204587527823e-18,-9.614536944957374e-08],"object_linear_velocity_m_s":[2.723877549220993e-18,-4.216006892111862e-17,1.1892731285746774e-14],"object_angular_velocity_rad_s":[8.886849559913705e-16,3.3094473927337806e-17,-2.1209185808848865e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313508671999747,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.939173832822471,-1.559039982991006,1.2732731582903358,-1.3105657491672045,-1.570883606884735,-0.36829500019746925,0.0],"actuator_force":[1.2881943800812223,-21.489721738069875,-20.148032341805447,-2.3832110249746847,0.062436323604856625,0.15781880150291272,-0.29317409585123055],"issued_joint_targets_rad":[-1.9423790584620866,-1.5478516587396502,1.2825812367385034,-1.3055583122374936,-1.5708820584958918,-0.3715037341647431],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.880000000000632,"joint_targets_rad":[-1.9423790584620866,-1.5478516587396502,1.2825812367385034,-1.3055583122374936,-1.5708820584958918,-0.3715037341647431],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.900000000000639,"qpos":[-1.9113562109861801,-1.5527763664366914,1.289103063711709,-1.30717362999192,-1.570890079273306,-0.3404745459838326,0.0029334328947915453,0.00015637993342153123,0.0031942715627208277,-0.003428262830868926,0.0029335075424845375,0.00015618066277167534,0.0031973575399855876,-0.003438367894698086,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,-2.0016427184908748e-17,-2.2397717652239332e-18,-9.63654340484198e-08],"qvel":[-0.1583509907681545,0.025704348829776933,-0.03299558366265492,0.007793321188705929,-0.0005893331505243391,-0.15672137144446707,-2.200165605574913e-05,1.183467217965261e-05,0.00016021966104905433,0.00020333374795577513,-1.2805192900720442e-05,-1.6255399402249246e-05,-9.47991408295803e-05,-0.00010941053559497172,3.0123699300443502e-18,-2.5207104138902736e-17,1.1945466879416466e-14,1.595027099896771e-15,6.628433226398069e-17,-8.525427183462399e-08],"joint_position_rad":[-1.9113562109861801,-1.5527763664366914,1.289103063711709,-1.30717362999192,-1.570890079273306,-0.3404745459838326],"joint_velocity_rad_s":[-0.1583509907681545,0.025704348829776933,-0.03299558366265492,0.007793321188705929,-0.0005893331505243391,-0.15672137144446707],"linkage_position_rad":[0.0029334328947915453,0.00015637993342153123,0.0031942715627208277,-0.003428262830868926,0.0029335075424845375,0.00015618066277167534,0.0031973575399855876,-0.003438367894698086],"tcp_position_m":[0.036090881492405476,0.5029540132951376,0.43430249288520895],"tcp_quaternion_wxyz":[3.142425550555255e-05,0.7071369519908071,0.7070766070883185,4.301322818457805e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,-2.0016427184908748e-17,-2.2397717652239332e-18,-9.63654340484198e-08],"object_linear_velocity_m_s":[3.0123699300443502e-18,-2.5207104138902736e-17,1.1945466879416466e-14],"object_angular_velocity_rad_s":[1.595027113053679e-15,6.628402144005e-17,-8.525427183462403e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313508503834188,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9423825282575162,-1.5583937367522422,1.2724314323832575,-1.310380951021531,-1.570883298084583,-0.3715037363021984,0.0],"actuator_force":[1.2877617645895043,-21.516480163012147,-20.145029191840877,-2.3829926336760536,0.06232390941397625,0.1575419852637765,-0.2931729876190218],"issued_joint_targets_rad":[-1.945581213139936,-1.5471800259994035,1.281721904187038,-1.3053712704676506,-1.5708817188628805,-0.37470602936373865],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.900000000000639,"joint_targets_rad":[-1.945581213139936,-1.5471800259994035,1.281721904187038,-1.3053712704676506,-1.5708817188628805,-0.37470602936373865],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.920000000000646,"qpos":[-1.9146137028960037,-1.5522447416499008,1.2883987972330253,-1.3070014936361012,-1.5708897953884653,-0.3437320720697472,0.002933432002639941,0.000156378386464256,0.0031942742728644055,-0.0034282600784652667,0.00293350695986491,0.00015618232900912432,0.0031973725151424907,-0.003438362393761586,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,-9.770695190127461e-18,-1.5847893418129253e-18,-9.668869238199187e-08],"qvel":[-0.1580736900683548,0.026418967781677287,-0.03377630207926307,0.007865683125094912,-0.0005880598616442715,-0.1564424141126612,-2.2134330692793792e-05,1.16820523949066e-05,0.0001602672737219631,0.00020357456267439648,-1.2881663547579046e-05,-1.6067819731980744e-05,-9.344718032631906e-05,-0.00010888887718923536,1.7991020119414468e-18,-1.424279907043164e-17,1.1642931105206112e-14,7.081090873772045e-16,-6.763834081294446e-17,-9.225998287915583e-09],"joint_position_rad":[-1.9146137028960037,-1.5522447416499008,1.2883987972330253,-1.3070014936361012,-1.5708897953884653,-0.3437320720697472],"joint_velocity_rad_s":[-0.1580736900683548,0.026418967781677287,-0.03377630207926307,0.007865683125094912,-0.0005880598616442715,-0.1564424141126612],"linkage_position_rad":[0.002933432002639941,0.000156378386464256,0.0031942742728644055,-0.0034282600784652667,0.00293350695986491,0.00015618232900912432,0.0031973725151424907,-0.003438362393761586],"tcp_position_m":[0.03779923159485184,0.5030299959683592,0.43436374724602683],"tcp_quaternion_wxyz":[3.1327887920417435e-05,0.7071369399142142,0.7070766191662512,4.307839487973214e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,-9.770695190127461e-18,-1.5847893418129253e-18,-9.668869238199187e-08],"object_linear_velocity_m_s":[1.7991020119414468e-18,-1.424279907043164e-17,1.1642931105206112e-14],"object_angular_velocity_rad_s":[7.0810907432670855e-16,-6.763847792551551e-17,-9.225998287915587e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931350833464661,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9455847808402842,-1.5577328703074007,1.2715725363742498,-1.3101939113559486,-1.57088298583252,-0.37470603150152126,0.0],"actuator_force":[1.2873201387815243,-21.543844427670592,-20.14200088584539,-2.3827771724331797,0.06221076413703486,0.1572616953791055,-0.29317186815404067],"issued_joint_targets_rad":[-1.9487768526281715,-1.546493426105121,1.2808452326790394,-1.3051818624702693,-1.57088137593266,-0.37790181111682464],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.920000000000646,"joint_targets_rad":[-1.9487768526281715,-1.546493426105121,1.2808452326790394,-1.3051818624702693,-1.57088137593266,-0.37790181111682464],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.940000000000652,"qpos":[-1.9178653646532546,-1.5516983197577265,1.2876780891987472,-1.306827712993779,-1.570889508043687,-0.3469837700510438,0.002933431185712224,0.00015637683633570648,0.0031942770667525806,-0.003428257394927109,0.002933506453681108,0.00015618400122861082,0.0031973876082662463,-0.003438356961548555,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,3.930931811329862e-18,-7.867381847751498e-18,-9.709151033154716e-08],"qvel":[-0.15779294080146192,0.02713441305895926,-0.03456155145524433,0.007941686039274259,-0.0005867790633079804,-0.15615999528705174,-2.2269231201847943e-05,1.1528209361666211e-05,0.0001603145122526581,0.00020381982052284901,-1.2959882540727816e-05,-1.5879419764427734e-05,-9.208648537458204e-05,-0.0001083607213976475,1.1262908849478604e-17,4.0914678273431765e-18,1.1538847696647502e-14,1.0409986547613193e-15,-5.698436997124452e-16,-3.708561814099554e-08],"joint_position_rad":[-1.9178653646532546,-1.5516983197577265,1.2876780891987472,-1.306827712993779,-1.570889508043687,-0.3469837700510438],"joint_velocity_rad_s":[-0.15779294080146192,0.02713441305895926,-0.03456155145524433,0.007941686039274259,-0.0005867790633079804,-0.15615999528705174],"linkage_position_rad":[0.002933431185712224,0.00015637683633570648,0.0031942770667525806,-0.003428257394927109,0.002933506453681108,0.00015618400122861082,0.0031973876082662463,-0.003438356961548555],"tcp_position_m":[0.039507601854589104,0.503106156167412,0.43442538071963244],"tcp_quaternion_wxyz":[3.1230428228189905e-05,0.7071369271135071,0.7070766319683512,4.314416591672496e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,3.930931811329862e-18,-7.867381847751498e-18,-9.709151033154716e-08],"object_linear_velocity_m_s":[1.1262908849478604e-17,4.0914678273431765e-18,1.1538847696647502e-14],"object_angular_velocity_rad_s":[1.0409985446908626e-15,-5.698439015651361e-16,-3.708561814099555e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313508164343753,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9487805180328799,-1.557057344724488,1.270696306136838,-1.3100045053478997,-1.570882670097049,-0.37790181325491357,0.0],"actuator_force":[1.2868695613342425,-21.571815157106812,-20.13894554172066,-2.3825647809877637,0.06209687964985733,0.15697792677028133,-0.29317073640095376],"issued_joint_targets_rad":[-1.9519659031973913,-1.5457918137869144,1.2799510396721399,-1.3049899514204724,-1.5708810296654516,-0.38109100569966187],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.940000000000652,"joint_targets_rad":[-1.9519659031973913,-1.5457918137869144,1.2799510396721399,-1.3049899514204724,-1.5708810296654516,-0.38109100569966187],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.960000000000659,"qpos":[-1.9211111245076795,-1.5511370801187103,1.2869408370935191,-1.306652206124147,-1.5708892172579818,-0.35022956819094797,0.0029334304542606962,0.0001563752831596698,0.003194279955391141,-0.0034282547902768894,0.0029335060341758416,0.00015618567960730713,0.003197402830752704,-0.0034383516082309917,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,6.010867892997415e-18,-6.5249729749924395e-18,-9.723212774416199e-08],"qvel":[-0.15750873324655312,0.027850808690249522,-0.035351736186967755,0.008021605920662847,-0.0005854903602045105,-0.1558741049286785,-2.240660596079982e-05,1.1373044656118776e-05,0.00016036155553377437,0.00020407013420547094,-1.3040046585904636e-05,-1.5690160191066677e-05,-9.071621115562019e-05,-0.00010782535857038483,6.8789846505062205e-18,4.754787113206182e-18,1.1458356527362177e-14,-2.708319606978514e-16,2.1779570078175689e-16,-4.013310325831136e-09],"joint_position_rad":[-1.9211111245076795,-1.5511370801187103,1.2869408370935191,-1.306652206124147,-1.5708892172579818,-0.35022956819094797],"joint_velocity_rad_s":[-0.15750873324655312,0.027850808690249522,-0.035351736186967755,0.008021605920662847,-0.0005854903602045105,-0.1558741049286785],"linkage_position_rad":[0.0029334304542606962,0.0001563752831596698,0.003194279955391141,-0.0034282547902768894,0.0029335060341758416,0.00015618567960730713,0.003197402830752704,-0.0034383516082309917],"tcp_position_m":[0.041215991216563275,0.5031825012915099,0.43448741371209476],"tcp_quaternion_wxyz":[3.1131894490186135e-05,0.7071369135839182,0.7070766454993863,4.321052686544107e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,6.010867892997415e-18,-6.5249729749924395e-18,-9.723212774416199e-08],"object_linear_velocity_m_s":[6.8789846505062205e-18,4.754787113206182e-18,1.1458356527362177e-14],"object_angular_velocity_rad_s":[-2.708319182919941e-16,2.1779575349713545e-16,-4.013310325831139e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313507992819035,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9519696661123103,-1.5563671149446046,1.2698025593378812,-1.309812596168909,-1.5708823508387475,-0.381091007838036,0.0],"actuator_force":[1.2864100893598334,-21.600393127887855,-20.135861036488677,-2.382355614447306,0.06198224563752319,0.15669066932383657,-0.29316959115909336],"issued_joint_targets_rad":[-1.9551482895900825,-1.5450751364269455,1.2790391211308694,-1.3047953864099602,-1.5708806800115185,-0.38427353786287244],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.960000000000659,"joint_targets_rad":[-1.9551482895900825,-1.5450751364269455,1.2790391211308694,-1.3047953864099602,-1.5708806800115185,-0.38427353786287244],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.980000000000666,"qpos":[-1.9243509103881664,-1.5505609990378266,1.2861869287888006,-1.3064748845022014,-1.5708889230484742,-0.3534693944371102,0.0029334298204933915,0.00015637372707309744,0.00319428295164702,-0.0034282522765436206,0.00293350571354008,0.00015618736437219348,0.003197418195958769,-0.003438346346017585,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,-7.388642422576136e-19,-3.839271016930468e-18,-9.76743986742529e-08],"qvel":[-0.15722105164916145,0.02856830040552177,-0.036147320704003914,0.008105756442788211,-0.0005841932922297352,-0.15558472688983127,-2.254674548749384e-05,1.1216437610714871e-05,0.0001604086024239057,0.0002043262222062155,-1.3122383962878376e-05,-1.549999044132878e-05,-8.933534157754127e-05,-0.00010728194955286271,6.34792308812271e-18,-4.3568920708410965e-19,1.1416723163938732e-14,-4.707638446452569e-16,3.015507103244904e-16,-1.613224819474352e-08],"joint_position_rad":[-1.9243509103881664,-1.5505609990378266,1.2861869287888006,-1.3064748845022014,-1.5708889230484742,-0.3534693944371102],"joint_velocity_rad_s":[-0.15722105164916145,0.02856830040552177,-0.036147320704003914,0.008105756442788211,-0.0005841932922297352,-0.15558472688983127],"linkage_position_rad":[0.0029334298204933915,0.00015637372707309744,0.00319428295164702,-0.0034282522765436206,0.00293350571354008,0.00015618736437219348,0.003197418195958769,-0.003438346346017585],"tcp_position_m":[0.04292439848146943,0.5032590395420777,0.43454986877682755],"tcp_quaternion_wxyz":[3.103230874493566e-05,0.7071368993188124,0.7070766597659924,4.327745140766721e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,-7.388642422576136e-19,-3.839271016930468e-18,-9.76743986742529e-08],"object_linear_velocity_m_s":[6.34792308812271e-18,-4.3568920708410965e-19,1.1416723163938732e-14],"object_angular_velocity_rad_s":[-4.707637856138074e-16,3.0155080226379665e-16,-1.613224819474353e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313507819949773,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9551521498289732,-1.5556621286063141,1.2688910921684777,-1.3096180329067142,-1.5708820280086353,-0.3842735400015107,0.0],"actuator_force":[1.2859417780505282,-21.62957929918366,-20.132744959043976,-2.382149846535299,0.06186684914246143,0.15639990678286608,-0.2931684310544217],"issued_joint_targets_rad":[-1.9583239345915255,-1.5443433325796707,1.278109247431958,-1.3045979998454438,-1.5708803269090184,-0.3874493304036533],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.980000000000666,"joint_targets_rad":[-1.9583239345915255,-1.5443433325796707,1.278109247431958,-1.3045979998454438,-1.5708803269090184,-0.3874493304036533],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.000000000000672,"qpos":[-1.9275846497506357,-1.5499700492147066,1.2854162410346328,-1.306295652054134,-1.5708886254304908,-0.3567031762705463,0.0029334292990661984,0.0001563721682342899,0.003194286070699506,-0.0034282498682862814,0.0029335055064014038,0.00015618905580958226,0.0031974337196406404,-0.0034383411896891517,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,-2.2812176999960197e-18,-7.632194587322525e-18,-9.79900557365909e-08],"qvel":[-0.1569298728370674,0.029287060329636343,-0.03694884253797004,0.008194497190006261,-0.0005828873179665625,-0.15529183751332556,-2.2689992283633627e-05,1.1058239712586962e-05,0.00016045587803930518,0.00020458893490491665,-1.320716170754008e-05,-1.5308846031095705e-05,-8.794264662172691e-05,-0.00010672949641112206,2.500931182576771e-17,-1.0271431714313147e-17,1.1404233154911696e-14,6.449151310826471e-17,-1.2812771944031572e-15,-6.484657569133189e-08],"joint_position_rad":[-1.9275846497506357,-1.5499700492147066,1.2854162410346328,-1.306295652054134,-1.5708886254304908,-0.3567031762705463],"joint_velocity_rad_s":[-0.1569298728370674,0.029287060329636343,-0.03694884253797004,0.008194497190006261,-0.0005828873179665625,-0.15529183751332556],"linkage_position_rad":[0.0029334292990661984,0.0001563721682342899,0.003194286070699506,-0.0034282498682862814,0.0029335055064014038,0.00015618905580958226,0.0031974337196406404,-0.0034383411896891517],"tcp_position_m":[0.04463282228221883,0.5033357800544102,0.43461277096490747],"tcp_quaternion_wxyz":[3.0931698545758685e-05,0.7071368843093147,0.7070766747770458,4.3344897586499854e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,-2.2812176999960197e-18,-7.632194587322525e-18,-9.79900557365909e-08],"object_linear_velocity_m_s":[2.500931182576771e-17,-1.0271431714313147e-17,1.1404233154911696e-14],"object_angular_velocity_rad_s":[6.449126299325947e-17,-1.2812772073380458e-15,-6.484657569133193e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313507645593888,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9583278919778895,-1.554942324574716,1.2679616752518499,-1.3094206479636123,-1.5708817015461092,-0.38744933254253466,0.0],"actuator_force":[1.2854646803193646,-21.659374851873054,-20.129594550377988,-2.3819476737397736,0.06175067398748979,0.15610561533839018,-0.29316725450342423],"issued_joint_targets_rad":[-1.9614927584848452,-1.543596330098065,1.2771611581766211,-1.3043976041519276,-1.570879970281243,-0.39061830362173405],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.000000000000672,"joint_targets_rad":[-1.9614927584848452,-1.543596330098065,1.2771611581766211,-1.3043976041519276,-1.570879970281243,-0.39061830362173405],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.020000000000679,"qpos":[-1.9308122693895333,-1.549364199065476,1.2846286376049403,-1.3061144039699504,-1.5708883244176775,-0.35993084051851093,0.002933428907732859,0.00015637060683482135,0.0031942893306332325,-0.0034282475832820014,0.002933505430468529,0.00015619075427747789,0.0031974494205217635,-0.00343833615730784,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,-6.963107851589646e-19,-8.958699689471054e-18,-9.823593427786206e-08],"qvel":[-0.15663516443928618,0.030007293030966754,-0.037756929162960855,0.008288244258424282,-0.0005815717934138636,-0.15499540382979488,-2.2836753559967443e-05,1.0898267011549531e-05,0.00016050364096811665,0.00020485928829651201,-1.3294694782595052e-05,-1.5116644619397712e-05,-8.65366228735908e-05,-0.00010616679869339113,1.0604880074538717e-17,-2.9224317710269263e-18,1.1433376509308112e-14,2.0713862276785849e-16,3.0740678518356393e-16,-7.017529836697502e-09],"joint_position_rad":[-1.9308122693895333,-1.549364199065476,1.2846286376049403,-1.3061144039699504,-1.5708883244176775,-0.35993084051851093],"joint_velocity_rad_s":[-0.15663516443928618,0.030007293030966754,-0.037756929162960855,0.008288244258424282,-0.0005815717934138636,-0.15499540382979488],"linkage_position_rad":[0.002933428907732859,0.00015637060683482135,0.0031942893306332325,-0.0034282475832820014,0.002933505430468529,0.00015619075427747789,0.0031974494205217635,-0.00343833615730784],"tcp_position_m":[0.046341261054855434,0.50341273305961,0.43467614825595824],"tcp_quaternion_wxyz":[3.083009899638866e-05,0.7071368685438233,0.7070766905441508,4.341280280604142e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,-6.963107851589646e-19,-8.958699689471054e-18,-9.823593427786206e-08],"object_linear_velocity_m_s":[1.0604880074538717e-17,-2.9224317710269263e-18,1.1433376509308112e-14],"object_angular_velocity_rad_s":[2.07138683290376e-16,3.074067444768732e-16,-7.017529836697507e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313507469585582,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9614968128541752,-1.5542076310785007,1.2670140484588193,-1.3092202537596331,-1.5708813713762846,-0.39061830576083756,0.0],"actuator_force":[1.2849788464309313,-21.689781238436353,-20.126406627057804,-2.3817493206837526,0.061633700037873496,0.1558077618161633,-0.2931660596683566],"issued_joint_targets_rad":[-1.964654678349899,-1.54283404372873,1.276194555529486,-1.3041939875390176,-1.5708796100330216,-0.39378037461944804],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.020000000000679,"joint_targets_rad":[-1.964654678349899,-1.54283404372873,1.276194555529486,-1.3041939875390176,-1.5708796100330216,-0.39378037461944804],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.040000000000686,"qpos":[-1.9340336952018595,-1.5487434118795196,1.2838239669905287,-1.3059310252250729,-1.5708880200221862,-0.36315231312037644,0.002933428668215247,0.00015636904311721404,0.0031942927532294285,-0.0034282454434467415,0.002933505507393536,0.0001561924602206766,0.003197465321031617,-0.0034383312711804403,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,2.0222500642631123e-17,-1.8970769157796052e-17,-9.864106353203906e-08],"qvel":[-0.15633688256230166,0.030729243423779633,-0.038572319994241544,0.008387484103535436,-0.0005802459441184966,-0.15469538120499202,-2.29875180885676e-05,1.073629017821244e-05,0.00016055219515306046,0.00020513851025385496,-1.3385358158293242e-05,-1.4923281034952645e-05,-8.511541493807401e-05,-0.00010559239930439829,2.7265629638835943e-17,2.4365319824599918e-17,1.1320966428064814e-14,9.891000470623146e-16,-3.5598907477262284e-16,-2.820826795051876e-08],"joint_position_rad":[-1.9340336952018595,-1.5487434118795196,1.2838239669905287,-1.3059310252250729,-1.5708880200221862,-0.36315231312037644],"joint_velocity_rad_s":[-0.15633688256230166,0.030729243423779633,-0.038572319994241544,0.008387484103535436,-0.0005802459441184966,-0.15469538120499202],"linkage_position_rad":[0.002933428668215247,0.00015636904311721404,0.0031942927532294285,-0.0034282454434467415,0.002933505507393536,0.0001561924602206766,0.003197465321031617,-0.0034383312711804403],"tcp_position_m":[0.04804971300218177,0.5034899100860398,0.4347400320941881],"tcp_quaternion_wxyz":[3.07275554975644e-05,0.707136852007355,0.7070767070822944,4.348107707615077e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,2.0222500642631123e-17,-1.8970769157796052e-17,-9.864106353203906e-08],"object_linear_velocity_m_s":[2.7265629638835943e-17,2.4365319824599918e-17,1.1320966428064814e-14],"object_angular_velocity_rad_s":[9.890999779022793e-16,-3.5598926876349403e-16,-2.8208267950518787e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313507291729836,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9646588295524838,-1.5534579633185048,1.2660479142507093,-1.309016638498699,-1.5708810374065365,-0.3937803767587531,0.0],"actuator_force":[1.284484323671677,-21.720800247482657,-20.123177481942548,-2.3815550471665574,0.061515902236692455,0.15550630131087928,-0.29316484439920487],"issued_joint_targets_rad":[-1.967809607148052,-1.542056371978674,1.2752090955370616,-1.303986908482419,-1.5708792460459664,-0.39693545638807815],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.040000000000686,"joint_targets_rad":[-1.967809607148052,-1.542056371978674,1.2752090955370616,-1.303986908482419,-1.5708792460459664,-0.39693545638807815],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.060000000000692,"qpos":[-1.9372488518883872,-1.548107644757297,1.2830020594926237,-1.3057453887159554,-1.5708877122549685,-0.36636751883133645,0.002933428607387857,0.0001563674774022214,0.003194296365030697,-0.0034282434761072336,0.0029335057639443595,0.00015619417419041786,0.003197481448286922,-0.0034383265591710725,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,1.5586298644799105e-17,-1.3528947774339014e-17,-9.88031886057972e-08],"qvel":[-0.15603496871093178,0.0314532072511224,-0.039395895565256994,0.008492791905636557,-0.0005789088280767495,-0.15439171022163745,-2.3142878829172087e-05,1.057202049048314e-05,0.00016060190453935947,0.00020542810257399228,-1.3479602883472277e-05,-1.4728620301404023e-05,-8.367670637538943e-05,-0.00010500450738663257,-2.186455434730397e-17,-1.9314977432741236e-17,1.1287659737326057e-14,-3.944806635549156e-15,3.890798446770143e-15,-1.1338838584015384e-07],"joint_position_rad":[-1.9372488518883872,-1.548107644757297,1.2830020594926237,-1.3057453887159554,-1.5708877122549685,-0.36636751883133645],"joint_velocity_rad_s":[-0.15603496871093178,0.0314532072511224,-0.039395895565256994,0.008492791905636557,-0.0005789088280767495,-0.15439171022163745],"linkage_position_rad":[0.002933428607387857,0.0001563674774022214,0.003194296365030697,-0.0034282434761072336,0.0029335057639443595,0.00015619417419041786,0.003197481448286922,-0.0034383265591710725],"tcp_position_m":[0.04975817604768329,0.5035673242131371,0.434804458063738],"tcp_quaternion_wxyz":[3.062412752448835e-05,0.7071368346806668,0.7070767244107268,4.354959372781443e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,1.5586298644799105e-17,-1.3528947774339014e-17,-9.88031886057972e-08],"object_linear_velocity_m_s":[-2.186455434730397e-17,-1.9314977432741236e-17,1.1287659737326057e-14],"object_angular_velocity_rad_s":[-3.944805863634446e-15,3.890799229823628e-15,-1.1338838584015394e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313507111795322,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9678138550525142,-1.5526932203513926,1.2650629290028481,-1.3088095606499275,-1.5708806995219255,-0.39693545852756457,0.0],"actuator_force":[1.283981156118898,-21.752434088639802,-20.119902753448514,-2.3813651575496806,0.061397249329047554,0.1552011740496937,-0.2931636061580476],"issued_joint_targets_rad":[-1.9709574525075493,-1.5412631929639058,1.2742043766216158,-1.303776088409421,-1.5708788781720762,-0.4000834565953416],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.060000000000692,"joint_targets_rad":[-1.9709574525075493,-1.5412631929639058,1.2742043766216158,-1.303776088409421,-1.5708788781720762,-0.4000834565953416],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.080000000000699,"qpos":[-1.9404576625702745,-1.5474568472527659,1.2821627235083066,-1.3055573528749709,-1.5708874011262624,-0.36957638084242617,0.0029334287589177603,0.00015636591012968112,0.0031943001988086555,-0.0034282417157592148,0.002933506233626622,0.00015619589686944018,0.0031974978354073645,-0.003438322056550551,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,-1.4460230541853128e-19,4.345930037147219e-18,-9.923312296409209e-08],"qvel":[-0.1557293456370929,0.032179545230542346,-0.04022871689070576,0.008604856345440464,-0.0005775592854005706,-0.15408431247445475,-2.3303563728597267e-05,1.0405090644702606e-05,0.0001606532164147992,0.00020572992766100737,-1.3577977713816975e-05,-1.4532487764058111e-05,-8.22175661979265e-05,-0.00010440089283742055,-2.767140938131595e-18,1.6085585940901777e-19,1.1279333064641368e-14,-5.032224931455115e-16,6.120369769787868e-16,-1.227059983176134e-08],"joint_position_rad":[-1.9404576625702745,-1.5474568472527659,1.2821627235083066,-1.3055573528749709,-1.5708874011262624,-0.36957638084242617],"joint_velocity_rad_s":[-0.1557293456370929,0.032179545230542346,-0.04022871689070576,0.008604856345440464,-0.0005775592854005706,-0.15408431247445475],"linkage_position_rad":[0.0029334287589177603,0.00015636591012968112,0.0031943001988086555,-0.0034282417157592148,0.002933506233626622,0.00015619589686944018,0.0031974978354073645,-0.003438322056550551],"tcp_position_m":[0.05146664777630017,0.5036449903957724,0.4348694667517228],"tcp_quaternion_wxyz":[3.051989393521274e-05,0.7071368165390507,0.7070767425541636,4.3618176421590866e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,-1.4460230541853128e-19,4.345930037147219e-18,-9.923312296409209e-08],"object_linear_velocity_m_s":[-2.767140938131595e-18,1.6085585940901777e-19,1.1279333064641368e-14],"object_angular_velocity_rad_s":[-5.032223717834752e-16,6.120370768479057e-16,-1.2270599831761351e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313506929504929,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.970961797005374,-1.5519132809598022,1.2640586915049015,-1.3085987416328488,-1.5708803575790455,-0.40008345873498974,0.0],"actuator_force":[1.2834693846380105,-21.78468550628986,-20.11657725052828,-2.3811800134831174,0.06127770214845896,0.15489230116367025,-0.29316234192000706],"issued_joint_targets_rad":[-1.9740981150810533,-1.5404543588034436,1.2731799240397093,-1.3035612018186875,-1.5708785062249626,-0.403224275945837],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.080000000000699,"joint_targets_rad":[-1.9740981150810533,-1.5404543588034436,1.2731799240397093,-1.3035612018186875,-1.5708785062249626,-0.403224275945837],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.100000000000706,"qpos":[-1.9436600482895199,-1.5467909596095353,1.2813057407055148,-1.3053667585691078,-1.5708870866463986,-0.3727788202857225,0.0029334291655816287,0.00015636434192251248,0.0031943042956157058,-0.003428240206582608,0.00293350695897278,0.00015619762910476875,0.0031975145233155817,-0.003438317808620591,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,3.695284377801844e-18,3.497892640645275e-18,-9.957224134497316e-08],"qvel":[-0.15541991163316854,0.03290870251415947,-0.04107207960362903,0.008724513676512582,-0.0005761958685690255,-0.1537730847882487,-2.3470478729406405e-05,1.0235027035136795e-05,0.00016070669405527285,0.00020604632967878626,-1.3681159028942882e-05,-1.4334655306709596e-05,-8.073422976848358e-05,-0.0001037787366607769,-4.988442303412086e-18,5.6898638609202524e-18,1.1227985249752452e-14,7.779647737610559e-16,-2.852305608093856e-16,-4.93239609980482e-08],"joint_position_rad":[-1.9436600482895199,-1.5467909596095353,1.2813057407055148,-1.3053667585691078,-1.5708870866463986,-0.3727788202857225],"joint_velocity_rad_s":[-0.15541991163316854,0.03290870251415947,-0.04107207960362903,0.008724513676512582,-0.0005761958685690255,-0.1537730847882487],"linkage_position_rad":[0.0029334291655816287,0.00015636434192251248,0.0031943042956157058,-0.003428240206582608,0.00293350695897278,0.00015619762910476875,0.0031975145233155817,-0.003438317808620591],"tcp_position_m":[0.053175125357030575,0.503722925885511,0.43493510486905085],"tcp_quaternion_wxyz":[3.041496058631267e-05,0.7071367975506557,0.7070767615444695,4.368658061473451e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,3.695284377801844e-18,3.497892640645275e-18,-9.957224134497316e-08],"object_linear_velocity_m_s":[-4.988442303412086e-18,5.6898638609202524e-18,1.1227985249752452e-14],"object_angular_velocity_rad_s":[7.779647166138891e-16,-2.8523071537224046e-16,-4.9323960998048254e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313506744523405,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9741025560924825,-1.5511179980742804,1.2630347274278362,-1.3083838559368235,-1.5708800113975905,-0.4032242780856281,0.0],"actuator_force":[1.2829490473422993,-21.817557935154127,-20.113194713905614,-2.3810000515090906,0.06115721126104745,0.15457957887207385,-0.2931610480389287],"issued_joint_targets_rad":[-1.9772314862764115,-1.5396296878834286,1.2721351684317432,-1.3033418626433522,-1.5708781299675432,-0.4063578059159003],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.100000000000706,"joint_targets_rad":[-1.9772314862764115,-1.5396296878834286,1.2721351684317432,-1.3033418626433522,-1.5708781299675432,-0.4063578059159003],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.120000000000712,"qpos":[-1.9468559273463866,-1.5461099104258622,1.2804308596385154,-1.305173424991859,-1.5708867688271426,-0.37597475557851495,0.0029334298826137234,0.00015636277368841821,0.0031943087077288966,-0.0034282390060878746,0.002933507994846176,0.00015619937195032683,0.0031975315632468927,-0.0034383138745562353,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,5.556994802751337e-18,1.2757116214227197e-18,-9.975926284072095e-08],"qvel":[-0.15510653251176898,0.033641236053758974,-0.041927590060756616,0.008852795620957988,-0.0005748167436096817,-0.15345789108958507,-2.364476888891945e-05,1.0061209290427022e-05,0.00016076306721700482,0.00020638031301907446,-1.3789992768411386e-05,-1.4134820812142573e-05,-7.922177514892474e-05,-0.00010313441497038538,-2.6644203044461323e-18,4.948876313955115e-18,1.1204393010479164e-14,-1.790754046562268e-16,-8.064590796047974e-17,-5.337712350695116e-09],"joint_position_rad":[-1.9468559273463866,-1.5461099104258622,1.2804308596385154,-1.305173424991859,-1.5708867688271426,-0.37597475557851495],"joint_velocity_rad_s":[-0.15510653251176898,0.033641236053758974,-0.041927590060756616,0.008852795620957988,-0.0005748167436096817,-0.15345789108958507],"linkage_position_rad":[0.0029334298826137234,0.00015636277368841821,0.0031943087077288966,-0.0034282390060878746,0.002933507994846176,0.00015619937195032683,0.0031975315632468927,-0.0034383138745562353],"tcp_position_m":[0.05488360543986456,0.5038011507878606,0.435001426733008],"tcp_quaternion_wxyz":[3.0309471508411366e-05,0.7071367776741035,0.7070767814230416,4.37544665261515e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,5.556994802751337e-18,1.2757116214227197e-18,-9.975926284072095e-08],"object_linear_velocity_m_s":[-2.6644203044461323e-18,4.948876313955115e-18,1.1204393010479164e-14],"object_angular_velocity_rad_s":[-1.7907542076019484e-16,-8.064587217229422e-17,-5.337712350695122e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313506556440375,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9772360237582562,-1.550307191074249,1.2619904678846783,-1.3081645174836078,-1.5708796607485234,-0.406357808055817,0.0],"actuator_force":[1.2824201809680744,-21.851055718277166,-20.109747483371393,-2.3808258079701545,0.06103571367054883,0.15426287030746266,-0.2931597200647083],"issued_joint_targets_rad":[-1.9803574450427968,-1.5387889539132529,1.2710694154710567,-1.303117604955896,-1.5708777490943384,-0.4094839255456342],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.120000000000712,"joint_targets_rad":[-1.9803574450427968,-1.5387889539132529,1.2710694154710567,-1.303117604955896,-1.5708777490943384,-0.4094839255456342],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.140000000000719,"qpos":[-1.95004521440216,-1.5454136134962029,1.2795377871176095,-1.3049771441036353,-1.5708864476839666,-0.37916410153590335,0.002933430982671088,0.00015636120678493834,0.0031943135029704702,-0.0034282381905647967,0.0029335094133354535,0.00015620112672519584,0.0031975490203262195,-0.003438310333166562,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,1.3257539653544748e-17,3.057931764486997e-17,-1.0021654478252272e-07],"qvel":[-0.15478903004436056,0.03437785406431102,-0.04279727505701581,0.00899099841267132,-0.0005734195463179464,-0.15313855068605897,-2.3827907680701415e-05,9.882809225416095e-06,0.00016082331038253862,0.0002067358065792744,-1.390555481723157e-05,-1.3932577296374717e-05,-7.767363306804529e-05,-0.00010246317130967957,-3.8849597238870706e-17,1.585171728490505e-17,1.1178025213644313e-14,9.336935859088894e-17,6.81520324058685e-16,-2.145592875769531e-08],"joint_position_rad":[-1.95004521440216,-1.5454136134962029,1.2795377871176095,-1.3049771441036353,-1.5708864476839666,-0.37916410153590335],"joint_velocity_rad_s":[-0.15478903004436056,0.03437785406431102,-0.04279727505701581,0.00899099841267132,-0.0005734195463179464,-0.15313855068605897],"linkage_position_rad":[0.002933430982671088,0.00015636120678493834,0.0031943135029704702,-0.0034282381905647967,0.0029335094133354535,0.00015620112672519584,0.0031975490203262195,-0.003438310333166562],"tcp_position_m":[0.056592084015531285,0.503879688815212,0.4350684962703595],"tcp_quaternion_wxyz":[3.0203625749937583e-05,0.707136756855008,0.7070768022442897,4.382135868553884e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,1.3257539653544748e-17,3.057931764486997e-17,-1.0021654478252272e-07],"object_linear_velocity_m_s":[-3.8849597238870706e-17,1.585171728490505e-17,1.1178025213644313e-14],"object_angular_velocity_rad_s":[9.336949387789607e-17,6.815203059132689e-16,-2.1455928757695334e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313506364747141,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9803620789990226,-1.549480634893803,1.260925219094862,-1.3079402603314576,-1.5708793053370655,-0.4094839276856608,0.0],"actuator_force":[1.2818828240192488,-21.88518442092436,-20.10622602268859,-2.3806579551783216,0.060913128082233925,0.1539419937271873,-0.2931583524878374],"issued_joint_targets_rad":[-1.9830935824592493,-1.5380182254702683,1.2700947583911302,-1.3029139626247006,-1.5708764419998444,-0.4122211047289386],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.140000000000719,"joint_targets_rad":[-1.9830935824592493,-1.5380182254702683,1.2700947583911302,-1.3029139626247006,-1.5708764419998444,-0.4122211047289386],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.160000000000726,"qpos":[-1.9531991548252055,-1.544707028790586,1.2786367577743152,-1.3047808356615698,-1.5708874240845514,-0.3823142772263784,0.0029334096413459465,0.00015637233095530336,0.0031944657429479354,-0.003428039458329654,0.0029334956714788672,0.00015619486970073581,0.0031974634719875313,-0.003438455736654089,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,1.4924912711680452e-17,3.039281284702549e-17,-1.0043916956395008e-07],"qvel":[-0.15268571831192418,0.034762120467579455,-0.04314172778128895,0.009035560694189022,-0.0005595213910471007,-0.15105255893119013,-2.1364921458863477e-05,8.575561017367673e-06,0.0001419451441953464,0.0001820608544805221,-1.2631478607642279e-05,-1.1582548784314494e-05,-6.582437275507088e-05,-9.045087391871649e-05,-6.227722613989716e-17,4.409338854527729e-17,1.1197454116575256e-14,2.90674893620754e-15,2.048942239959303e-15,-8.624610106526575e-08],"joint_position_rad":[-1.9531991548252055,-1.544707028790586,1.2786367577743152,-1.3047808356615698,-1.5708874240845514,-0.3823142772263784],"joint_velocity_rad_s":[-0.15268571831192418,0.034762120467579455,-0.04314172778128895,0.009035560694189022,-0.0005595213910471007,-0.15105255893119013],"linkage_position_rad":[0.0029334096413459465,0.00015637233095530336,0.0031944657429479354,-0.003428039458329654,0.0029334956714788672,0.00015619486970073581,0.0031974634719875313,-0.003438455736654089],"tcp_position_m":[0.058285603735604694,0.5039580874975199,0.4351341243633269],"tcp_quaternion_wxyz":[3.115619238472711e-05,0.7071380878137685,0.7070754711756015,4.30601859122877e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,1.4924912711680452e-17,3.039281284702549e-17,-1.0043916956395008e-07],"object_linear_velocity_m_s":[-6.227722613989716e-17,4.409338854527729e-17,1.1197454116575256e-14],"object_angular_velocity_rad_s":[2.906749342553076e-15,2.0489416586307972e-15,-8.624610106526585e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931350564869628,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9830982142313622,-1.5487240338812462,1.2599510861741585,-1.3077367080630506,-1.570877971213217,-0.4122211068244663,0.0],"actuator_force":[1.2761685124560245,-21.938858368352157,-20.114652087797822,-2.3814922701592423,0.060678574771941385,0.15184109407508117,-0.2931752836409081],"issued_joint_targets_rad":[-1.9830379176122015,-1.5378799479834506,1.2699446501944553,-1.3028988299744302,-1.5708685899500483,-0.41217280916961696],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.160000000000726,"joint_targets_rad":[-1.9830379176122015,-1.5378799479834506,1.2699446501944553,-1.3028988299744302,-1.5708685899500483,-0.41217280916961696],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.1800000000007325,"qpos":[-1.9560922659623863,-1.544030881623556,1.277806267679556,-1.304606582627165,-1.5708975035621626,-0.38517646916144566,0.002933252965297554,0.00015645564442892025,0.003195440680063104,-0.003426743930549853,0.0029333860911378933,0.0001561557265626369,0.003196824596816796,-0.003439445131380344,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,1.9558911685125996e-17,2.946989038065253e-17,-1.0076618861305444e-07],"qvel":[-0.13778791203622281,0.032404296008456596,-0.039527254554967604,0.00831351894605439,-0.0004446575063746328,-0.1363520865078695,-2.5676709071164213e-06,1.192108710143843e-06,6.8644494957090415e-06,9.006685554443708e-07,-2.4712173062832843e-06,2.210350326193758e-06,3.601092043028401e-06,-5.594709310686587e-06,-3.382072063407671e-17,2.1881363347939656e-17,1.105867623849711e-14,-4.893188410462467e-16,-1.1046478905517324e-15,-9.33333149934149e-09],"joint_position_rad":[-1.9560922659623863,-1.544030881623556,1.277806267679556,-1.304606582627165,-1.5708975035621626,-0.38517646916144566],"joint_velocity_rad_s":[-0.13778791203622281,0.032404296008456596,-0.039527254554967604,0.00831351894605439,-0.0004446575063746328,-0.1363520865078695],"linkage_position_rad":[0.002933252965297554,0.00015645564442892025,0.003195440680063104,-0.003426743930549853,0.0029333860911378933,0.0001561557265626369,0.003196824596816796,-0.003439445131380344],"tcp_position_m":[0.059845821787274135,0.5040331190707175,0.43518291223774286],"tcp_quaternion_wxyz":[3.979972969664749e-05,0.7071490185619516,0.7070645392633601,3.57650862596736e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,1.9558911685125996e-17,2.946989038065253e-17,-1.0076618861305444e-07],"object_linear_velocity_m_s":[-3.382072063407671e-17,2.1881363347939656e-17,1.105867623849711e-14],"object_angular_velocity_rad_s":[-4.893190642186573e-16,-1.1046477915730225e-15,-9.333331499341503e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313501909016962,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9830418400522913,-1.5485975163016463,1.2598015656266752,-1.3077222660812866,-1.570869729609025,-0.4121728109203497,0.0],"actuator_force":[1.216016634679363,-22.094987759563537,-20.198502283774815,-2.389193621666209,0.058352727206283816,0.13703777133494555,-0.29330675838070536],"issued_joint_targets_rad":[-1.9829913401067922,-1.5377648145269402,1.269819160790043,-1.302885621956196,-1.570861953240363,-0.41213292026267323],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.1800000000007325,"joint_targets_rad":[-1.9829913401067922,-1.5377648145269402,1.269819160790043,-1.302885621956196,-1.570861953240363,-0.41213292026267323],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.200000000000739,"qpos":[-1.9587013637828665,-1.5434069800887453,1.2770445323275312,-1.3044467863773865,-1.5709049541285114,-0.3877604537687911,0.0029332519309588074,0.00015646540392090744,0.0031953360027026697,-0.0034269592806908406,0.00293337426729445,0.00015617454411706976,0.003196840491587046,-0.0034393846802381967,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,3.308268654825917e-17,-1.2937002710689423e-17,-1.0117369285701308e-07],"qvel":[-0.12422619841967472,0.029769026631545303,-0.03630393861248312,0.007610355222931702,-0.00031707099031116025,-0.12309951775746264,-1.8796384217910116e-07,-1.0630861795094545e-06,-7.22122883535124e-06,-1.0353430699298741e-05,-5.166648725297948e-07,1.6846046124889192e-06,1.2097301439617189e-05,1.1113408881375867e-05,3.1588746137870426e-17,3.80404696147889e-17,1.108643181411274e-14,1.0299902584391168e-15,-3.4856338895597264e-15,-3.7517063971375546e-08],"joint_position_rad":[-1.9587013637828665,-1.5434069800887453,1.2770445323275312,-1.3044467863773865,-1.5709049541285114,-0.3877604537687911],"joint_velocity_rad_s":[-0.12422619841967472,0.029769026631545303,-0.03630393861248312,0.007610355222931702,-0.00031707099031116025,-0.12309951775746264],"linkage_position_rad":[0.0029332519309588074,0.00015646540392090744,0.0031953360027026697,-0.0034269592806908406,0.00293337426729445,0.00015617454411706976,0.003196840491587046,-0.0034393846802381967],"tcp_position_m":[0.061255208676210315,0.5041015442595291,0.43522566357099657],"tcp_quaternion_wxyz":[4.757884575672797e-05,0.7071578964162331,0.7070556601460334,2.697920895322704e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,3.308268654825917e-17,-1.2937002710689423e-17,-1.0117369285701308e-07],"object_linear_velocity_m_s":[3.1588746137870426e-17,3.80404696147889e-17,1.108643181411274e-14],"object_angular_velocity_rad_s":[1.0299895541009089e-15,-3.4856340954931657e-15,-3.75170639713756e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931350315714662,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982994593516545,-1.5484934874996155,1.2596765753937194,-1.307709612829004,-1.5708627504307662,-0.41213292173121896,0.0],"actuator_force":[1.1040199005133218,-22.080625474358385,-20.21433842263059,-2.392448748101856,0.05280894790371349,0.12371779453232534,-0.2933277867690893],"issued_joint_targets_rad":[-1.982953563945819,-1.537670718006728,1.2697161409589153,-1.302873933072678,-1.5708559980704722,-0.41210117279947706],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.200000000000739,"joint_targets_rad":[-1.982953563945819,-1.537670718006728,1.2697161409589153,-1.302873933072678,-1.5708559980704722,-0.41210117279947706],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.220000000000746,"qpos":[-1.9610538923236402,-1.5428354257799555,1.2763457780208818,-1.3043006839795093,-1.5709100490178263,-0.3900936803973362,0.002933267066367479,0.00015645049060524253,0.0031951475814424404,-0.0034271737042830307,0.0029333785185494624,0.00015619018150474638,0.0031969340226765393,-0.0034392337777247838,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,2.84284226728994e-17,-2.1118688689047975e-17,-1.0131594618132074e-07],"qvel":[-0.11200742014675046,0.02724760482332573,-0.03330797103646461,0.006957771193137969,-0.00020907283607084792,-0.11115460115865217,1.8444409274368344e-07,-1.3298876277331323e-06,-7.724801017152599e-06,-8.720263320329186e-06,-1.177535986531094e-07,1.4422538146954328e-06,1.1514178855589658e-05,1.0246732998875615e-05,2.119267407291869e-17,3.0630407232490184e-17,1.1097534044358993e-14,-9.89566039374228e-16,1.937369374652198e-16,-4.060000285252124e-09],"joint_position_rad":[-1.9610538923236402,-1.5428354257799555,1.2763457780208818,-1.3043006839795093,-1.5709100490178263,-0.3900936803973362],"joint_velocity_rad_s":[-0.11200742014675046,0.02724760482332573,-0.03330797103646461,0.006957771193137969,-0.00020907283607084792,-0.11115460115865217],"linkage_position_rad":[0.002933267066367479,0.00015645049060524253,0.0031951475814424404,-0.0034271737042830307,0.0029333785185494624,0.00015619018150474638,0.0031969340226765393,-0.0034392337777247838],"tcp_position_m":[0.06252769719054055,0.5041634967705986,0.4352651548921487],"tcp_quaternion_wxyz":[5.363182893186275e-05,0.7071647196895096,0.7070488356431154,1.9125848842744508e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,2.84284226728994e-17,-2.1118688689047975e-17,-1.0131594618132074e-07],"object_linear_velocity_m_s":[2.119267407291869e-17,3.0630407232490184e-17,1.1097534044358993e-14],"object_angular_velocity_rad_s":[-9.89565999945443e-16,1.9373713821369406e-16,-4.0600002852521296e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313504132531618,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9829562504294604,-1.5484097534294368,1.2595739949378626,-1.3076983729947604,-1.5708565077399161,-0.41210117403784735,0.0],"actuator_force":[0.9982518470596915,-22.04769722829269,-20.220377751452816,-2.3946216269392835,0.04767792256211578,0.11171329560966115,-0.29333261269831756],"issued_joint_targets_rad":[-1.9829231001062448,-1.5375938434431211,1.269631610937548,-1.3028636311527013,-1.5708505330880291,-0.41207614402105125],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.220000000000746,"joint_targets_rad":[-1.9829231001062448,-1.5375938434431211,1.269631610937548,-1.3028636311527013,-1.5708505330880291,-0.41207614402105125],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.2400000000007525,"qpos":[-1.9631753317828269,-1.5423131229787013,1.2757055881004065,-1.3041671908502626,-1.5709131606100089,-0.39220083509131703,0.002933284300357325,0.00015643454718993727,0.0031949727339743925,-0.0034273641145405255,0.0029333857798412785,0.00015620368902453585,0.003197026913409402,-0.003439095802094035,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,3.72115361598516e-17,-4.2394923153865195e-17,-1.017633623930128e-07],"qvel":[-0.10100507220932152,0.02489092976213305,-0.030516415318723816,0.00635855565642656,-0.00011857042715285372,-0.10038545517085964,3.319797509964511e-07,-1.170623039734865e-06,-7.08963361180452e-06,-8.057328502497859e-06,3.5416250110544104e-08,1.2061854751819818e-06,9.899203758180062e-06,8.980711600826836e-06,5.029276498240695e-17,4.2105613860470654e-17,1.1040635114346952e-14,-8.414413638713802e-16,7.788554706793972e-16,-1.63199271810266e-08],"joint_position_rad":[-1.9631753317828269,-1.5423131229787013,1.2757055881004065,-1.3041671908502626,-1.5709131606100089,-0.39220083509131703],"joint_velocity_rad_s":[-0.10100507220932152,0.02489092976213305,-0.030516415318723816,0.00635855565642656,-0.00011857042715285372,-0.10038545517085964],"linkage_position_rad":[0.002933284300357325,0.00015643454718993727,0.0031949727339743925,-0.0034273641145405255,0.0029333857798412785,0.00015620368902453585,0.003197026913409402,-0.003439095802094035],"tcp_position_m":[0.06367651053665156,0.504219500445132,0.4353019103929521],"tcp_quaternion_wxyz":[5.809830133546715e-05,0.7071697692577036,0.7070437850082688,1.2400563794097627e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,3.72115361598516e-17,-4.2394923153865195e-17,-1.017633623930128e-07],"object_linear_velocity_m_s":[5.029276498240695e-17,4.2105613860470654e-17,1.1040635114346952e-14],"object_angular_velocity_rad_s":[-8.414412039696968e-16,7.788556431497661e-16,-1.6319927181026627e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313504966437058,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9829253138709468,-1.5483424956758536,1.259489855380406,-1.3076884359811778,-1.5708508024012078,-0.4120761450711521,0.0],"actuator_force":[0.9020647074885346,-22.015117299157737,-20.224899312511297,-2.396478131100139,0.043036147115799395,0.10089052716844549,-0.29333534098993574],"issued_joint_targets_rad":[-1.9828986145416574,-1.537531022760101,1.2695622329479908,-1.3028545684371928,-1.5708455176832656,-0.4120565596705194],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.2400000000007525,"joint_targets_rad":[-1.9828986145416574,-1.537531022760101,1.2695622329479908,-1.3028545684371928,-1.5708455176832656,-0.4120565596705194],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.260000000000759,"qpos":[-1.9650886493546338,-1.5418366130076209,1.2751198041516985,-1.3040452551172736,-1.5709146192063506,-0.39410411480277413,0.002933301722261875,0.000156420275563603,0.0031948159147344867,-0.003427537831373506,0.0029333940076151786,0.00015621525474467408,0.003197109930576529,-0.0034389723432907723,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,4.2567841394202086e-17,-3.315809273329926e-17,-1.0208269173938453e-07],"qvel":[-0.09109651884625741,0.022702937502709297,-0.027922480140810963,0.005809274396145717,-4.3324314156538403e-05,-0.09067353098295812,4.1597094076370307e-07,-1.0163713586470597e-06,-6.475133287545771e-06,-7.424210435313569e-06,1.324340286460215e-07,1.0174899520726316e-06,8.42292176088291e-06,7.83072463840482e-06,6.007345823568395e-17,8.598903453245245e-17,1.0958756166280849e-14,2.9381609675166854e-15,-1.535381051324591e-16,-6.560098632542614e-08],"joint_position_rad":[-1.9650886493546338,-1.5418366130076209,1.2751198041516985,-1.3040452551172736,-1.5709146192063506,-0.39410411480277413],"joint_velocity_rad_s":[-0.09109651884625741,0.022702937502709297,-0.027922480140810963,0.005809274396145717,-4.3324314156538403e-05,-0.09067353098295812],"linkage_position_rad":[0.002933301722261875,0.000156420275563603,0.0031948159147344867,-0.003427537831373506,0.0029333940076151786,0.00015621525474467408,0.003197109930576529,-0.0034389723432907723],"tcp_position_m":[0.06471365515249601,0.5042700891668098,0.43533614999289894],"tcp_quaternion_wxyz":[6.121001167143013e-05,0.7071733174890237,0.7070402359412146,6.715158571526622e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,4.2567841394202086e-17,-3.315809273329926e-17,-1.0208269173938453e-07],"object_linear_velocity_m_s":[6.007345823568395e-17,8.598903453245245e-17,1.0958756166280849e-14],"object_angular_velocity_rad_s":[2.9381609405198702e-15,-1.5353869941823248e-16,-6.560098632542624e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313505728055758,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9829004359230562,-1.5482885649956373,1.2594208261045716,-1.3076796704661682,-1.5708455858353818,-0.41205656056621726,0.0],"actuator_force":[0.8150344016580675,-21.9850789771167,-20.228964037929018,-2.3981351140618017,0.03884911689999626,0.09113021657427112,-0.29333752851869976],"issued_joint_targets_rad":[-1.98287899681883,-1.5374796683180543,1.2695052663203863,-1.3028466045103029,-1.5708409259113747,-0.4120413629190996],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.260000000000759,"joint_targets_rad":[-1.98287899681883,-1.5374796683180543,1.2695052663203863,-1.3028466045103029,-1.5708409259113747,-0.4120413629190996],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.280000000000766,"qpos":[-1.966814491085283,-1.541402479270043,1.2745844224949234,-1.3039339038352413,-1.570914711827614,-0.3958234865713252,0.0029333188404425644,0.00015640758183432137,0.0031946751984909794,-0.003427695991384571,0.0029334027125166766,0.00015622528204745236,0.003197183400484201,-0.003438862453124681,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,3.9996244287053307e-17,-2.2175295693312982e-17,-1.0233143077690016e-07],"qvel":[-0.08217089107930436,0.020679566136239468,-0.02551945348057632,0.005306014264102686,1.8692881474732595e-05,-0.081912641970554,4.7043141902637086e-07,-8.830900316632321e-07,-5.906507009090942e-06,-6.824696440899322e-06,2.023140536187803e-07,8.627160007352508e-07,7.1745374211339115e-06,6.826593847105948e-06,3.0070718445281374e-17,4.673707243301974e-17,1.0928225033103658e-14,-1.4395730998010602e-15,1.5375932813989752e-15,-7.0991702175113044e-09],"joint_position_rad":[-1.966814491085283,-1.541402479270043,1.2745844224949234,-1.3039339038352413,-1.570914711827614,-0.3958234865713252],"joint_velocity_rad_s":[-0.08217089107930436,0.020679566136239468,-0.02551945348057632,0.005306014264102686,1.8692881474732595e-05,-0.081912641970554],"linkage_position_rad":[0.0029333188404425644,0.00015640758183432137,0.0031946751984909794,-0.003427695991384571,0.0029334027125166766,0.00015622528204745236,0.003197183400484201,-0.003438862453124681],"tcp_position_m":[0.06564998047195739,0.5043157605768531,0.4353680425111911],"tcp_quaternion_wxyz":[6.318247916861465e-05,0.7071756044629451,0.7070379483851092,1.953943171867433e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,3.9996244287053307e-17,-2.2175295693312982e-17,-1.0233143077690016e-07],"object_linear_velocity_m_s":[3.0070718445281374e-17,4.673707243301974e-17,1.0928225033103658e-14],"object_angular_velocity_rad_s":[-1.439572784797939e-15,1.5375935765939758e-15,-7.099170217511315e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931350643072362,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828804933624564,-1.5482454021966834,1.2593641720993414,-1.3076719491522204,-1.570840825301762,-0.41204136368778993,0.0],"actuator_force":[0.7363518773745454,-21.957672307776647,-20.23271939893357,-2.399624084899756,0.03507397477858376,0.08232563882302202,-0.29333944137532525],"issued_joint_targets_rad":[-1.9828633333659424,-1.5374376706832609,1.2694584669653823,-1.3028396103132038,-1.5708367317974716,-0.4120296882365099],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.280000000000766,"joint_targets_rad":[-1.9828633333659424,-1.5374376706832609,1.2694584669653823,-1.3028396103132038,-1.5708367317974716,-0.4120296882365099],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.3000000000007725,"qpos":[-1.9683714161990893,-1.5410074299896543,1.2740956095501992,-1.3038322425542208,-1.5709136865108229,-0.3973769197297805,0.00293333546845214,0.000156396296276364,0.0031945489001146553,-0.0034278399320239344,0.00293341165591554,0.00015623401528784745,0.0031972484655638125,-0.0034387646935760247,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,3.8588682661518825e-17,-2.4435558520970803e-17,-1.0274127321468438e-07],"qvel":[-0.07412880251881539,0.01881431256294596,-0.023299283401301437,0.0048450842738514835,6.928097033177232e-05,-0.07400765780275849,5.051885785422436e-07,-7.686168488208618e-07,-5.378624841129874e-06,-6.2648967963738115e-06,2.5318151408009393e-07,7.33602056616065e-07,6.126966114106707e-06,5.959073264690997e-06,3.852662102812599e-17,4.993555089025236e-17,1.090879613017272e-14,-7.084177101064263e-16,7.129431008444484e-18,-2.8536436663886466e-08],"joint_position_rad":[-1.9683714161990893,-1.5410074299896543,1.2740956095501992,-1.3038322425542208,-1.5709136865108229,-0.3973769197297805],"joint_velocity_rad_s":[-0.07412880251881539,0.01881431256294596,-0.023299283401301437,0.0048450842738514835,6.928097033177232e-05,-0.07400765780275849],"linkage_position_rad":[0.00293333546845214,0.000156396296276364,0.0031945489001146553,-0.0034278399320239344,0.00293341165591554,0.00015623401528784745,0.0031972484655638125,-0.0034387646935760247],"tcp_position_m":[0.06649528368983704,0.5043569721792298,0.4353977395741232],"tcp_quaternion_wxyz":[6.420457420432685e-05,0.7071768387324568,0.7070367137809506,-1.993640518525756e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,3.8588682661518825e-17,-2.4435558520970803e-17,-1.0274127321468438e-07],"object_linear_velocity_m_s":[3.852662102812599e-17,4.993555089025236e-17,1.090879613017272e-14],"object_angular_velocity_rad_s":[-7.084177072468311e-16,7.129578778286207e-18,-2.8536436663886516e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313507078388786,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982864561561284,-1.5482109319466448,1.259317653922938,-1.3076651535353065,-1.5708364891737112,-0.4120296889003663,0.0],"actuator_force":[0.6652302831366796,-21.93272893915946,-20.23619789400209,-2.4009639179279247,0.031670571522568025,0.07438119498297624,-0.2933411480688471],"issued_joint_targets_rad":[-1.9828508751688378,-1.5374033104347198,1.269419998156679,-1.3028334690389611,-1.5708329086091952,-0.4120208296852717],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.3000000000007725,"joint_targets_rad":[-1.9828508751688378,-1.5374033104347198,1.269419998156679,-1.3028334690389611,-1.5708329086091952,-0.4120208296852717],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.320000000000779,"qpos":[-1.9697761136403633,-1.5406483296135018,1.273649722238605,-1.303739449664891,-1.5709117568319562,-0.39878059283126127,0.0029333515038528594,0.00015638625632111283,0.0031944355502235527,-0.00342797090194149,0.002933420679411736,0.00015624164147313814,0.003197306207477419,-0.0034386777083762364,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,2.7429246679994746e-17,-1.681259545174246e-17,-1.0290528441547991e-07],"qvel":[-0.06688121674284493,0.017099427552627708,-0.021252873746994694,0.004423074304281337,0.00011002906963761981,-0.06687329902627033,5.252907116772703e-07,-6.703474125933791e-07,-4.8896785576063706e-06,-5.744031217928504e-06,2.8959313940060655e-07,6.254726421991003e-07,5.247803658568807e-06,5.208746699690079e-06,7.056401058312882e-18,7.72766995363843e-17,1.0815814951860364e-14,2.4663801953413303e-15,1.2414042891538613e-15,-1.1470752109361503e-07],"joint_position_rad":[-1.9697761136403633,-1.5406483296135018,1.273649722238605,-1.303739449664891,-1.5709117568319562,-0.39878059283126127],"joint_velocity_rad_s":[-0.06688121674284493,0.017099427552627708,-0.021252873746994694,0.004423074304281337,0.00011002906963761981,-0.06687329902627033],"linkage_position_rad":[0.0029333515038528594,0.00015638625632111283,0.0031944355502235527,-0.00342797090194149,0.002933420679411736,0.00015624164147313814,0.003197306207477419,-0.0034386777083762364],"tcp_position_m":[0.06725841078627434,0.5043941429366287,0.43542538140115294],"tcp_quaternion_wxyz":[6.444006974488551e-05,0.7071772007315954,0.7070363516719346,-5.2289440295090545e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,2.7429246679994746e-17,-1.681259545174246e-17,-1.0290528441547991e-07],"object_linear_velocity_m_s":[7.056401058312882e-18,7.72766995363843e-17,1.0815814951860364e-14],"object_angular_velocity_rad_s":[2.466380454692468e-15,1.2414037878394075e-15,-1.1470752109361523e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313507673746257,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828518820871335,-1.5481834722865975,1.2592794387163793,-1.307659175309874,-1.5708325460468204,-0.41202083026225317,0.0],"actuator_force":[0.600949803597814,-21.910056367242305,-20.239417545653396,-2.4021702529197455,0.028602485604096728,0.06721118713107899,-0.29334268358248516],"issued_joint_targets_rad":[-1.9716138080549515,-1.55171957605967,1.3327055391590603,-1.351493086816931,-1.5708299462207713,-0.40081278392080033],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.320000000000779,"joint_targets_rad":[-1.9716138080549515,-1.55171957605967,1.3327055391590603,-1.351493086816931,-1.5708299462207713,-0.40081278392080033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.340000000000786,"qpos":[-1.9703591409060903,-1.541165722964163,1.2746844718689796,-1.3051103543084428,-1.5709488885019158,-0.3991962578388984,0.0029283589957333797,0.00015416348847525715,0.003198719813894473,-0.003414264725342538,0.0029303462166472612,0.00015901377874905846,0.0032214281723308104,-0.003432468311316745,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,2.7855582956370016e-17,-8.443511696636673e-18,-1.033402205344445e-07],"qvel":[-0.00924635029822672,-0.057017742471196065,0.11494346931181966,-0.13579443635022895,-5.489158343093631e-05,-0.008161296546347242,-0.00042534475560538807,-0.00011724970552683799,-0.0010210626129363365,0.00013935453355359587,-0.00043655561133759723,-2.259328129595954e-06,2.953456763387431e-05,0.0011521264118179136,1.0267268232376137e-17,3.351893237290345e-17,1.0854672757722243e-14,-9.54393659975366e-16,8.123746127846139e-16,-1.2413353260158381e-08],"joint_position_rad":[-1.9703591409060903,-1.541165722964163,1.2746844718689796,-1.3051103543084428,-1.5709488885019158,-0.3991962578388984],"joint_velocity_rad_s":[-0.00924635029822672,-0.057017742471196065,0.11494346931181966,-0.13579443635022895,-5.489158343093631e-05,-0.008161296546347242],"linkage_position_rad":[0.0029283589957333797,0.00015416348847525715,0.003198719813894473,-0.003414264725342538,0.0029303462166472612,0.00015901377874905846,0.0032214281723308104,-0.003432468311316745],"tcp_position_m":[0.06758144168819173,0.5043990240788914,0.4353217578286601],"tcp_quaternion_wxyz":[-7.90446366995518e-05,0.7072363299961125,0.7069770926966831,0.00039709913146721617],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,2.7855582956370016e-17,-8.443511696636673e-18,-1.033402205344445e-07],"object_linear_velocity_m_s":[1.0267268232376137e-17,3.351893237290345e-17,1.0854672757722243e-14],"object_angular_velocity_rad_s":[-9.543934918637794e-16,8.12374810730663e-16,-1.2413353260158403e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931321251944061,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9716130877586435,-1.562490092716893,1.2892790433482244,-1.337661381831607,-1.5708291537964827,-0.4008127818901766,0.0],"actuator_force":[1.1906464141839024,-19.841642516981665,-16.788244766238677,-2.6960701265592206,0.06535651105969009,0.007867628995626319,-0.2886257587843172],"issued_joint_targets_rad":[-1.9721372457992352,-1.5516655501066987,1.3329187096527464,-1.3517663386232044,-1.570827850852164,-0.4013359018183408],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.340000000000786,"joint_targets_rad":[-1.9721372457992352,-1.5516655501066987,1.3329187096527464,-1.3517663386232044,-1.570827850852164,-0.4013359018183408],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.360000000000793,"qpos":[-1.9705277453728547,-1.5424242330602276,1.2783164684421482,-1.3090760434415232,-1.5709392762665868,-0.39939889878586926,0.002915239760419601,0.00015318292808465836,0.0031853525584400327,-0.0034002526263877215,0.0029163717942614223,0.00015655998228004066,0.003206226816936122,-0.003406189580301905,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,1.8121313729597253e-17,7.338945900771095e-18,-1.0368328414311937e-07],"qvel":[-0.0076896180937510395,-0.06372443329732629,0.24080909358973557,-0.22411625686590939,0.0005215836115261232,-0.009783336614534534,-0.0008153597247486387,6.673690204478355e-05,0.00013466830072560992,0.001402997760442229,-0.0009029376419113354,-0.00021933983390239013,-0.0016013246091011865,0.0009965630834796893,-2.2627490409776875e-17,2.4178984901275894e-17,1.08352438547913e-14,-9.331676079712012e-16,1.5454241579239031e-15,-4.989778498636221e-08],"joint_position_rad":[-1.9705277453728547,-1.5424242330602276,1.2783164684421482,-1.3090760434415232,-1.5709392762665868,-0.39939889878586926],"joint_velocity_rad_s":[-0.0076896180937510395,-0.06372443329732629,0.24080909358973557,-0.22411625686590939,0.0005215836115261232,-0.009783336614534534],"linkage_position_rad":[0.002915239760419601,0.00015318292808465836,0.0031853525584400327,-0.0034002526263877215,0.0029163717942614223,0.00015655998228004066,0.003206226816936122,-0.003406189580301905],"tcp_position_m":[0.06770949434434609,0.5044957441506086,0.43459927882902216],"tcp_quaternion_wxyz":[-0.0003830212958460764,0.7072238895251605,0.706988642030591,0.0011328809869814301],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,1.8121313729597253e-17,7.338945900771095e-18,-1.0368328414311937e-07],"object_linear_velocity_m_s":[-2.2627490409776875e-17,2.4178984901275894e-17,1.08352438547913e-14],"object_angular_velocity_rad_s":[-9.331672882342727e-16,1.5454243532400641e-15,-4.9897784986362295e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313297360649427,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.972134252007476,-1.5624246314252777,1.3192739571908456,-1.3565947299345,-1.5708270639048634,-0.4013358997966487,0.0],"actuator_force":[-0.13716603174225384,-14.511023411169845,-14.408659938499568,-1.3477175598975464,0.003947819709196665,0.009833156063763226,-0.28298909090075136],"issued_joint_targets_rad":[-1.9722898041299282,-1.551789132545638,1.3349151619924076,-1.3536509062926456,-1.5708235465599607,-0.40148846010491257],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.360000000000793,"joint_targets_rad":[-1.9722898041299282,-1.551789132545638,1.3349151619924076,-1.3536509062926456,-1.5708235465599607,-0.40148846010491257],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.380000000000799,"qpos":[-1.9706735849103547,-1.5434996704342996,1.2835857586091437,-1.313390160606901,-1.5709286383144685,-0.39959847982396624,0.002912381297569828,0.00015582023435134257,0.0031755270878752193,-0.0034044088140552826,0.002912157416054537,0.00015503265825064514,0.0031762718205278423,-0.0034133411207156747,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,9.209314682754394e-18,1.0844220746261983e-17,-1.0387248140533885e-07],"qvel":[-0.007306763332894905,-0.0438137364652509,0.25856420133472896,-0.20298724515455951,0.0005688481674039831,-0.009546632011698744,0.00023238646176442133,0.00012985019062179074,-0.00028933606391188925,-0.0009333823201205955,0.0002041476409718809,6.354389136904129e-05,-0.0005503653885089576,-0.000897381784809065,-1.1736778673623068e-17,1.2477820191099874e-17,1.0824141624545046e-14,-7.400420069588826e-16,-3.145944243788454e-16,-5.399810108611934e-09],"joint_position_rad":[-1.9706735849103547,-1.5434996704342996,1.2835857586091437,-1.313390160606901,-1.5709286383144685,-0.39959847982396624],"joint_velocity_rad_s":[-0.007306763332894905,-0.0438137364652509,0.25856420133472896,-0.20298724515455951,0.0005688481674039831,-0.009546632011698744],"linkage_position_rad":[0.002912381297569828,0.00015582023435134257,0.0031755270878752193,-0.0034044088140552826,0.002912157416054537,0.00015503265825064514,0.0031762718205278423,-0.0034133411207156747],"tcp_position_m":[0.06778043863716826,0.5044866302796878,0.43303621900043665],"tcp_quaternion_wxyz":[-0.0004103738982038458,0.7072048384934916,0.7070075953188916,0.001186661727577583],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,9.209314682754394e-18,1.0844220746261983e-17,-1.0387248140533885e-07],"object_linear_velocity_m_s":[-1.1736778673623068e-17,1.2477820191099874e-17,1.0824141624545046e-14],"object_angular_velocity_rad_s":[-7.400420724313885e-16,-3.1459427053938288e-16,-5.399810108611945e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313652416239745,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.972285402017786,-1.5625416649677364,1.3247589593607538,-1.3584773187020864,-1.5708227353837154,-0.4014884592595337,0.0],"actuator_force":[-0.3009288817047491,-20.558494480773334,-21.079279030671387,-2.244854532136742,-0.003933351363798465,0.009673483386137605,-0.29340960619489975],"issued_joint_targets_rad":[-1.9724312560332933,-1.5525861934864797,1.339799637212191,-1.357740703078615,-1.5708229622145884,-0.401630051929786],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.380000000000799,"joint_targets_rad":[-1.9724312560332933,-1.5525861934864797,1.339799637212191,-1.357740703078615,-1.5708229622145884,-0.401630051929786],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.400000000000806,"qpos":[-1.9708360073779227,-1.5443869821184852,1.288917158482673,-1.317606523194404,-1.5709180884635336,-0.39979255761993154,0.0029158382766682534,0.00015660729276976548,0.003175609495086207,-0.003412656294364001,0.0029156726593275615,0.00015589149528458276,0.0031766215815956333,-0.0034218217261476284,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,1.0345162884401829e-17,1.995407109788672e-17,-1.0433508326351232e-07],"qvel":[-0.007800791750666458,-0.04051203298775497,0.25756154279357746,-0.2018746544983406,0.00046626686483117554,-0.009280995761521449,0.0002872921359479546,4.944007899040954e-05,0.0001527014555994505,-0.0004445083777241485,0.0002706868662207779,1.3714325486350081e-06,-8.750233191751412e-05,-0.0005002146702282901,-2.4701235533395243e-17,1.3728804835714792e-17,1.0776957145998479e-14,-1.5784377870367222e-16,-1.2427720537301974e-17,-2.1705542259199016e-08],"joint_position_rad":[-1.9708360073779227,-1.5443869821184852,1.288917158482673,-1.317606523194404,-1.5709180884635336,-0.39979255761993154],"joint_velocity_rad_s":[-0.007800791750666458,-0.04051203298775497,0.25756154279357746,-0.2018746544983406,0.00046626686483117554,-0.009280995761521449],"linkage_position_rad":[0.0029158382766682534,0.00015660729276976548,0.003175609495086207,-0.003412656294364001,0.0029156726593275615,0.00015589149528458276,0.0031766215815956333,-0.0034218217261476284],"tcp_position_m":[0.06786331899948095,0.5044847699864708,0.4313388729884361],"tcp_quaternion_wxyz":[-0.0003722371462436769,0.7071937351670862,0.7070188948052808,0.0010792442960995089],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,1.0345162884401829e-17,1.995407109788672e-17,-1.0433508326351232e-07],"object_linear_velocity_m_s":[-2.4701235533395243e-17,1.3728804835714792e-17,1.0776957145998479e-14],"object_angular_velocity_rad_s":[-1.5784378216319143e-16,-1.242768715091931e-17,-2.170554225919906e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313707782982907,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9724267584868818,-1.56333078744812,1.3296330325892005,-1.3625662573580717,-1.5708221211482944,-0.4016300513944248,0.0],"actuator_force":[-0.06118551765166558,-21.68279746416738,-21.592868904376246,-2.2924016319997236,0.0013569711364880277,0.009352688905494233,-0.2943654418106344],"issued_joint_targets_rad":[-1.9725880512705456,-1.5534192826700441,1.3450725919779785,-1.362180577431077,-1.5708232672500932,-0.4017869636825468],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.400000000000806,"joint_targets_rad":[-1.9725880512705456,-1.5534192826700441,1.3450725919779785,-1.362180577431077,-1.5708232672500932,-0.4017869636825468],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.420000000000813,"qpos":[-1.9710024614258028,-1.5452507968108822,1.2942434742358546,-1.3218374267978805,-1.5709090030731434,-0.39998299714607094,0.0029191000118629954,0.00015663877490001025,0.0031785403390827533,-0.003415921400124041,0.002918969543503998,0.00015598494500985017,0.0031797284571851167,-0.003425313909879993,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999956,2.745835316336871e-18,2.0117532418486076e-17,-1.0456029801211562e-07],"qvel":[-0.007814614901408005,-0.04009688502578529,0.2574080791478585,-0.20289009598687,0.0004106877834865649,-0.009111575078996492,0.000263426709667647,4.329781804673426e-05,0.00016797407061440277,-0.00037569171124712033,0.00024207042467667194,-1.4089222225697635e-05,-0.00010413619670261847,-0.00041049482338814485,-5.98298513324719e-17,-2.5110493885413358e-17,1.0774181588436917e-14,-2.7759944817962804e-15,2.775156449806982e-15,-8.724946901639108e-08],"joint_position_rad":[-1.9710024614258028,-1.5452507968108822,1.2942434742358546,-1.3218374267978805,-1.5709090030731434,-0.39998299714607094],"joint_velocity_rad_s":[-0.007814614901408005,-0.04009688502578529,0.2574080791478585,-0.20289009598687,0.0004106877834865649,-0.009111575078996492],"linkage_position_rad":[0.0029191000118629954,0.00015663877490001025,0.0031785403390827533,-0.003415921400124041,0.002918969543503998,0.00015598494500985017,0.0031797284571851167,-0.003425313909879993],"tcp_position_m":[0.06794985788915853,0.5044854983296142,0.4296316135978613],"tcp_quaternion_wxyz":[-0.00033273236240375335,0.7071853365526104,0.7070274730041215,0.0009702945696987369],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999956,2.745835316336871e-18,2.0117532418486076e-17,-1.0456029801211562e-07],"object_linear_velocity_m_s":[-5.98298513324719e-17,-2.5110493885413358e-17,1.0774181588436917e-14],"object_angular_velocity_rad_s":[-2.7759939049643428e-15,2.7751570308036935e-15,-8.724946901639125e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313683675153567,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9725835354140362,-1.5641558602237988,1.3348958002462707,-1.3670053790312862,-1.5708223958835124,-0.4017869634484183,0.0],"actuator_force":[-0.036302015903856955,-21.771372815519044,-21.65857963831104,-2.2949665180158263,0.0022348164668528625,0.009174356725964117,-0.2944309634400713],"issued_joint_targets_rad":[-1.9727492528489825,-1.5542319095403516,1.350346114258489,-1.3666414421844606,-1.570823581106443,-0.4019482590253856],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.420000000000813,"joint_targets_rad":[-1.9727492528489825,-1.5542319095403516,1.350346114258489,-1.3666414421844606,-1.570823581106443,-0.4019482590253856],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.440000000000819,"qpos":[-1.9711687123482984,-1.5461083637580995,1.2995653504720068,-1.3260898451385115,-1.5709008552855672,-0.40017062227759687,0.0029218231312103113,0.00015664048675454294,0.0031812297044245892,-0.0034185063521547303,0.0029216932957855705,0.00015598879854621182,0.0031824166655074265,-0.003427909308669053,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-6.7594022581823115e-18,2.3625652119399455e-17,-1.0489112152807955e-07],"qvel":[-0.007794034364193099,-0.03984830166255521,0.2571778031170334,-0.2039390489245132,0.0003673752227984704,-0.00897858003019316,0.0002371754501720287,4.326876301965088e-05,0.0001476069530785471,-0.00035090976134298247,0.00021550770489473078,-1.4594055326958007e-05,-0.00012663983197044683,-0.0003840593087141176,-2.806909270534415e-17,-6.7779704592377384e-18,1.1241863037560262e-14,4.272592809801641e-17,-6.201490235051294e-16,-9.441913401457677e-09],"joint_position_rad":[-1.9711687123482984,-1.5461083637580995,1.2995653504720068,-1.3260898451385115,-1.5709008552855672,-0.40017062227759687],"joint_velocity_rad_s":[-0.007794034364193099,-0.03984830166255521,0.2571778031170334,-0.2039390489245132,0.0003673752227984704,-0.00897858003019316],"linkage_position_rad":[0.0029218231312103113,0.00015664048675454294,0.0031812297044245892,-0.0034185063521547303,0.0029216932957855705,0.00015598879854621182,0.0031824166655074265,-0.003427909308669053],"tcp_position_m":[0.06803663020626886,0.5044863989546479,0.4279233389536179],"tcp_quaternion_wxyz":[-0.00029653494450740907,0.7071778464945088,0.7070351105029876,0.000870637951816994],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-6.7594022581823115e-18,2.3625652119399455e-17,-1.0489112152807955e-07],"object_linear_velocity_m_s":[-2.806909270534415e-17,-6.7779704592377384e-18,1.1241863037560262e-14],"object_angular_velocity_rad_s":[4.272579755561955e-17,-6.201490325959001e-16,-9.441913401457676e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313659257510852,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9727447286877062,-1.5649603975260955,1.3401592952070955,-1.371465573851182,-1.5708226821688092,-0.4019482590642079,0.0],"actuator_force":[-0.03441893313811306,-21.764746870970157,-21.68323177663615,-2.2939594638839935,0.002349036099190016,0.009039609713795471,-0.2944392371251279],"issued_joint_targets_rad":[-1.9729107901923852,-1.5550254603353724,1.3555978863266749,-1.371099755822561,-1.570823843475909,-0.4021098784445194],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.440000000000819,"joint_targets_rad":[-1.9729107901923852,-1.5550254603353724,1.3555978863266749,-1.371099755822561,-1.570823843475909,-0.4021098784445194],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.460000000000826,"qpos":[-1.9713344766470742,-1.5469599209474487,1.3048809027613324,-1.330362005107934,-1.5708935161075426,-0.4003557531343674,0.002924059648645345,0.00015664037256946518,0.0031834644429362354,-0.003420628157077466,0.0029239291338322153,0.0001559884089042605,0.003184638240559834,-0.003430036501058994,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,1.2388898156422551e-18,2.5564215360998452e-17,-1.0530336658574804e-07],"qvel":[-0.007772754824822599,-0.039554972899607396,0.25686039471503824,-0.20487893932621928,0.0003290346705906569,-0.008859826080132445,0.00021492076856643774,4.316611125268691e-05,0.0001272439328226055,-0.00032918108292230087,0.0001933053841721597,-1.4428940631002076e-05,-0.0001462352896254478,-0.00036245615805626484,-3.812088115661131e-17,8.089996170490908e-18,1.160684885690578e-14,6.802417477016379e-16,8.614178923342963e-17,-3.7953529146563284e-08],"joint_position_rad":[-1.9713344766470742,-1.5469599209474487,1.3048809027613324,-1.330362005107934,-1.5708935161075426,-0.4003557531343674],"joint_velocity_rad_s":[-0.007772754824822599,-0.039554972899607396,0.25686039471503824,-0.20487893932621928,0.0003290346705906569,-0.008859826080132445],"linkage_position_rad":[0.002924059648645345,0.00015664037256946518,0.0031834644429362354,-0.003420628157077466,0.0029239291338322153,0.0001559884089042605,0.003184638240559834,-0.003430036501058994],"tcp_position_m":[0.06812337398015436,0.5044872945684378,0.4262149293514961],"tcp_quaternion_wxyz":[-0.00026376485287313224,0.7071710535289591,0.7070420231024551,0.0007804140125327268],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,1.2388898156422551e-18,2.5564215360998452e-17,-1.0530336658574804e-07],"object_linear_velocity_m_s":[-3.812088115661131e-17,8.089996170490908e-18,1.160684885690578e-14],"object_angular_velocity_rad_s":[6.802417639031593e-16,8.614164606397616e-17,-3.7953529146563284e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313638868718731,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9729062598831733,-1.5657458159929698,1.3454012003711135,-1.3759232884091608,-1.570822919678237,-0.4021098787293394,0.0],"actuator_force":[-0.03446454226923379,-21.74980093119939,-21.703562666452854,-2.2927477179914604,0.0023947475937120544,0.008919810527231675,-0.294440569887571],"issued_joint_targets_rad":[-1.9730723396579255,-1.555800008039285,1.3608257601128435,-1.3755532984563195,-1.5708240549005044,-0.402271500468717],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.460000000000826,"joint_targets_rad":[-1.9730723396579255,-1.555800008039285,1.3608257601128435,-1.3755532984563195,-1.5708240549005044,-0.402271500468717],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.480000000000833,"qpos":[-1.9714997765728963,-1.5478043423406096,1.3101884347259047,-1.334651607662185,-1.570886900038582,-0.4005386305822291,0.0029258928336585405,0.00015663970192157363,0.0031852999656816743,-0.0034223647565762233,0.0029257617154872973,0.00015598765393660328,0.003186461701310753,-0.00343177823400659,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,3.907894600986318e-18,1.89143066242937e-17,-1.0544727485358117e-07],"qvel":[-0.007753751828085019,-0.039202787942759956,0.2564622673539953,-0.20570699888090277,0.0002946577989981464,-0.00875246754851865,0.0001966307368057082,4.312112980878663e-05,0.00011053131628453973,-0.0003114380958796016,0.0001750708841845587,-1.4185983527955534e-05,-0.00016197045176588284,-0.0003447006442992533,-2.2679880902605104e-17,3.4072758605101736e-18,1.1699830035218137e-14,-1.2048867611651589e-17,-9.869224602696987e-16,-4.1072334252740015e-09],"joint_position_rad":[-1.9714997765728963,-1.5478043423406096,1.3101884347259047,-1.334651607662185,-1.570886900038582,-0.4005386305822291],"joint_velocity_rad_s":[-0.007753751828085019,-0.039202787942759956,0.2564622673539953,-0.20570699888090277,0.0002946577989981464,-0.00875246754851865],"linkage_position_rad":[0.0029258928336585405,0.00015663970192157363,0.0031852999656816743,-0.0034223647565762233,0.0029257617154872973,0.00015598765393660328,0.003186461701310753,-0.00343177823400659],"tcp_position_m":[0.06821007194006944,0.5044881725114235,0.42450645535372566],"tcp_quaternion_wxyz":[-0.0002341318120159106,0.7071648826762287,0.7070482908259164,0.000698807527356981],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,3.907894600986318e-18,1.89143066242937e-17,-1.0544727485358117e-07],"object_linear_velocity_m_s":[-2.2679880902605104e-17,3.4072758605101736e-18,1.1699830035218137e-14],"object_angular_velocity_rad_s":[-1.2049075903590116e-17,-9.86922457696535e-16,-4.1072334252740015e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313622091240921,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9730678045184185,-1.5665122134211265,1.3506193704319736,-1.380376295613322,-1.5708231087023166,-0.40227150097516584,0.0],"actuator_force":[-0.03455515981022472,-21.734626983929957,-21.723035529460503,-2.2916440874781756,0.0024298882327684623,0.00881155838351333,-0.2944412355622432],"issued_joint_targets_rad":[-1.9732338752251506,-1.556555635825558,1.3660298046658685,-1.380002042811579,-1.5708242210692562,-0.40243310034751667],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.480000000000833,"joint_targets_rad":[-1.9732338752251506,-1.556555635825558,1.3660298046658685,-1.380002042811579,-1.5708242210692562,-0.40243310034751667],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.500000000000839,"qpos":[-1.971664658889503,-1.5486404930581352,1.3154864318469426,-1.3389565244111745,-1.5708809332007152,-0.4007194686130876,0.0029273951425577887,0.00015663905651155854,0.0031868065242305326,-0.003423787215111015,0.002927263498822843,0.00015598720261297797,0.0031879583034026735,-0.0034332050407366935,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.1049293519852174e-17,2.2021822787415955e-17,-1.0589989620593585e-07],"qvel":[-0.00773706352642406,-0.03879614012756513,0.2559921730123483,-0.2064335460545842,0.0002637885903783401,-0.0086552980679231,0.00018164635047222328,4.308385686336283e-05,9.707116236832695e-05,-0.0002968708994586827,0.00016014204056006908,-1.3935335746626916e-05,-0.00017444999785247016,-0.00033012800438047624,-2.722669341551102e-17,-1.0101529983958403e-17,1.1706768929122048e-14,-2.2452768434240692e-16,-4.842178887348553e-16,-1.6509789582880616e-08],"joint_position_rad":[-1.971664658889503,-1.5486404930581352,1.3154864318469426,-1.3389565244111745,-1.5708809332007152,-0.4007194686130876],"joint_velocity_rad_s":[-0.00773706352642406,-0.03879614012756513,0.2559921730123483,-0.2064335460545842,0.0002637885903783401,-0.0086552980679231],"linkage_position_rad":[0.0029273951425577887,0.00015663905651155854,0.0031868065242305326,-0.003423787215111015,0.002927263498822843,0.00015598720261297797,0.0031879583034026735,-0.0034332050407366935],"tcp_position_m":[0.06829672961213719,0.5044890354699025,0.42279791578983844],"tcp_quaternion_wxyz":[-0.0002073370859545487,0.7071592767563746,0.7070539750887741,0.0006249959171530334],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.1049293519852174e-17,2.2021822787415955e-17,-1.0589989620593585e-07],"object_linear_velocity_m_s":[-2.722669341551102e-17,-1.0101529983958403e-17,1.1706768929122048e-14],"object_angular_velocity_rad_s":[-2.245277876268016e-16,-4.842178415447705e-16,-1.650978958288062e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313608301114117,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9732293363625608,-1.5672596951758013,1.3558138771121604,-1.384824561942021,-1.5708232546817624,-0.4024331010536725,0.0],"actuator_force":[-0.03452953554597116,-21.719948184306304,-21.741978674504026,-2.290664159964763,0.002460400438508259,0.008713586499851544,-0.29444187402419303],"issued_joint_targets_rad":[-1.9733953979689722,-1.5572924211060006,1.3712102788204776,-1.3844461572058229,-1.5708243474300678,-0.4025946801917425],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.500000000000839,"joint_targets_rad":[-1.9733953979689722,-1.5572924211060006,1.3712102788204776,-1.3844461572058229,-1.5708243474300678,-0.4025946801917425],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.520000000000846,"qpos":[-1.9718291680571054,-1.5494673446912406,1.3207735502379423,-1.3432748427329186,-1.5708755495841114,-0.4008984607813566,0.00292862626266806,0.00015663846289585268,0.003188043320563683,-0.0034249523496985715,0.002928494173470037,0.00015598708389013858,0.0031891871873975363,-0.0034343738981294303,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-8.22248969029689e-18,8.776169779240267e-18,-1.0616664461485623e-07],"qvel":[-0.007722478823649888,-0.038340534226600595,0.25545823824694147,-0.20706906058082947,0.00023606168621414681,-0.008567350633818428,0.00016937536858449792,4.304720636154133e-05,8.629387681832085e-05,-0.0002848851460002149,0.00014792551619922272,-1.368896053136777e-05,-0.00018426866225551444,-0.0003181403454644068,4.8636466681511805e-18,-1.2811872798087641e-17,1.1777545646941902e-14,5.231988781635261e-16,-2.551916570606287e-15,-6.636417360496042e-08],"joint_position_rad":[-1.9718291680571054,-1.5494673446912406,1.3207735502379423,-1.3432748427329186,-1.5708755495841114,-0.4008984607813566],"joint_velocity_rad_s":[-0.007722478823649888,-0.038340534226600595,0.25545823824694147,-0.20706906058082947,0.00023606168621414681,-0.008567350633818428],"linkage_position_rad":[0.00292862626266806,0.00015663846289585268,0.003188043320563683,-0.0034249523496985715,0.002928494173470037,0.00015598708389013858,0.0031891871873975363,-0.0034343738981294303],"tcp_position_m":[0.06838335391650902,0.5044898871466175,0.4210893038091611],"tcp_quaternion_wxyz":[-0.00018310739634224308,0.7071541846457423,0.7070591304771325,0.0005582281047738812],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-8.22248969029689e-18,8.776169779240267e-18,-1.0616664461485623e-07],"object_linear_velocity_m_s":[4.8636466681511805e-18,-1.2811872798087641e-17,1.1777545646941902e-14],"object_angular_velocity_rad_s":[5.231983351418285e-16,-2.551916682790126e-15,-6.636417360496044e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313596960261902,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9733908563512605,-1.567988358616411,1.36098498160132,-1.3892682500878109,-1.570823362839791,-0.40259468107788704,0.0],"actuator_force":[-0.0343850588501482,-21.705814159700367,-21.760432572021273,-2.289797619363185,0.0024872035387488722,0.008624915116627108,-0.29444252623082345],"issued_joint_targets_rad":[-1.9735569113975155,-1.5580104367834808,1.376367446748666,-1.3888858210574284,-1.5708244387876618,-0.4027562443943049],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.520000000000846,"joint_targets_rad":[-1.9735569113975155,-1.5580104367834808,1.376367446748666,-1.3888858210574284,-1.5708244387876618,-0.4027562443943049],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.540000000000853,"qpos":[-1.971993344261988,-1.5502839749580632,1.3260485997866487,-1.3476048501059807,-1.5708706899845752,-0.40107578249886877,0.002929635135393025,0.00015663790715541732,0.0031890590198936915,-0.0034259066155915264,0.0029295026735758184,0.0001559872546124025,0.0031901968190549356,-0.003435331327140941,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-4.521460313647744e-18,-1.659408833570659e-18,-1.0641827742699309e-07],"qvel":[-0.007709787257776657,-0.037841060301000616,0.2548677783645526,-0.2076230919486489,0.000211153832262819,-0.008487761446232353,0.00015932866223699883,4.301109572691519e-05,7.771548950253788e-05,-0.0002750158919259921,0.0001379320641466206,-1.3447248982588338e-05,-0.00019191175055065417,-0.00030827148839406655,2.8740582972553944e-19,-6.4670572773503604e-18,1.1672074459602515e-14,1.9971979867288806e-16,-3.5175368275683785e-16,-7.181760384347585e-09],"joint_position_rad":[-1.971993344261988,-1.5502839749580632,1.3260485997866487,-1.3476048501059807,-1.5708706899845752,-0.40107578249886877],"joint_velocity_rad_s":[-0.007709787257776657,-0.037841060301000616,0.2548677783645526,-0.2076230919486489,0.000211153832262819,-0.008487761446232353],"linkage_position_rad":[0.002929635135393025,0.00015663790715541732,0.0031890590198936915,-0.0034259066155915264,0.0029295026735758184,0.0001559872546124025,0.0031901968190549356,-0.003435331327140941],"tcp_position_m":[0.06846995130326096,0.5044907310378632,0.41938061279582844],"tcp_quaternion_wxyz":[-0.0001611954898378221,0.7071495598298413,0.7070638063279756,0.0004978247382341229],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-4.521460313647744e-18,-1.659408833570659e-18,-1.0641827742699309e-07],"object_linear_velocity_m_s":[2.8740582972553944e-19,-6.4670572773503604e-18,1.1672074459602515e-14],"object_angular_velocity_rad_s":[1.9971972383067653e-16,-3.5175372532944795e-16,-7.181760384347586e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313587625568942,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.973552367872269,-1.5686982945835777,1.3661329501202535,-1.3937075343863705,-1.5708234377794008,-0.40275624544269695,0.0],"actuator_force":[-0.03413231745162193,-21.692215130628938,-21.778410678611635,-2.28903294532995,0.00251071936088465,0.008544672709149381,-0.2944431940803603],"issued_joint_targets_rad":[-1.9737184190389097,-1.5587097516847765,1.3815015622091138,-1.3933212086822844,-1.5708244993520242,-0.4029177972454343],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.540000000000853,"joint_targets_rad":[-1.9737184190389097,-1.5587097516847765,1.3815015622091138,-1.3933212086822844,-1.5708244993520242,-0.4029177972454343],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.560000000000859,"qpos":[-1.9721572236644884,-1.5510895579257122,1.3313105283755602,-1.3519450148040641,-1.5708663012729944,-0.40125159277539957,0.002930461872836783,0.0001566373772364282,0.0031898935196149245,-0.003426688086401695,0.0029303291037289484,0.00015598767419246413,0.003191026902563623,-0.0034361154564052795,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.1980184871221451e-18,-2.2536065957437093e-17,-1.0683288788051387e-07],"qvel":[-0.00769879839180621,-0.03730230704801794,0.25422735704413596,-0.2081042532598461,0.0001887758196536583,-0.008415749035077066,0.00015110495124056328,4.2975585140928916e-05,7.093726776186437e-05,-0.00026688178929903266,0.00012976047943487258,-1.320989914512428e-05,-0.00019777679746769926,-0.0003001400901334284,3.297216779263706e-17,2.3363574214674387e-18,1.1640155547644539e-14,3.2470839975534775e-16,-9.145258667443253e-16,-2.886842321904914e-08],"joint_position_rad":[-1.9721572236644884,-1.5510895579257122,1.3313105283755602,-1.3519450148040641,-1.5708663012729944,-0.40125159277539957],"joint_velocity_rad_s":[-0.00769879839180621,-0.03730230704801794,0.25422735704413596,-0.2081042532598461,0.0001887758196536583,-0.008415749035077066],"linkage_position_rad":[0.002930461872836783,0.0001566373772364282,0.0031898935196149245,-0.003426688086401695,0.0029303291037289484,0.00015598767419246413,0.003191026902563623,-0.0034361154564052795],"tcp_position_m":[0.06855652765108614,0.5044915703628241,0.41767183682743086],"tcp_quaternion_wxyz":[-0.00014137790385055482,0.7071453599294611,0.7070680473201808,0.0004431719155217472],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.1980184871221451e-18,-2.2536065957437093e-17,-1.0683288788051387e-07],"object_linear_velocity_m_s":[3.297216779263706e-17,2.3363574214674387e-18,1.1640155547644539e-14],"object_angular_velocity_rad_s":[3.2470820565362306e-16,-9.145259361925467e-16,-2.8868423219049146e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313579933908052,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9737138743462723,-1.5693895880325566,1.371258038201829,-1.3981425845600415,-1.5708234835295758,-0.40291779844010694,0.0],"actuator_force":[-0.0337820068457404,-21.679137394481586,-21.795923165117074,-2.288359552004067,0.002531289743956222,0.008472071154017158,-0.29444387598166377],"issued_joint_targets_rad":[-1.9738799242013225,-1.5593904307838098,1.3866128679778813,-1.3977524883833143,-1.5708245328153063,-0.40307934271216705],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.560000000000859,"joint_targets_rad":[-1.9738799242013225,-1.5593904307838098,1.3866128679778813,-1.3977524883833143,-1.5708245328153063,-0.40307934271216705],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.580000000000866,"qpos":[-1.9723208387970197,-1.5518833543490669,1.336558407641808,-1.3562939680262827,-1.570862335762059,-0.4014260357609199,0.002931139348511647,0.00015663686367153884,0.0031905795164199704,-0.0034273279634253035,0.0029310063306509536,0.00015598830750300778,0.0031917099597273046,-0.0034367575375021256,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,2.0067778567461664e-18,-1.8877834531018466e-17,-1.0694234818299286e-07],"qvel":[-0.007689341282643653,-0.03672840003135633,0.25354286036358936,-0.20852030488392556,0.0001686685329645852,-0.00835060535320455,0.00014437531768796998,4.29407343830173e-05,6.563228784951211e-05,-0.0002601702665163379,0.00012308191932023228,-1.2976611141888109e-05,-0.00020218945350118753,-0.00029343351449496546,2.2174847324542353e-17,1.842568988828269e-18,1.1679013353506417e-14,1.4106496828205467e-16,8.503663021535114e-16,-3.124066600563078e-09],"joint_position_rad":[-1.9723208387970197,-1.5518833543490669,1.336558407641808,-1.3562939680262827,-1.570862335762059,-0.4014260357609199],"joint_velocity_rad_s":[-0.007689341282643653,-0.03672840003135633,0.25354286036358936,-0.20852030488392556,0.0001686685329645852,-0.00835060535320455],"linkage_position_rad":[0.002931139348511647,0.00015663686367153884,0.0031905795164199704,-0.0034273279634253035,0.0029310063306509536,0.00015598830750300778,0.0031917099597273046,-0.0034367575375021256],"tcp_position_m":[0.06864308831467963,0.5044924080910819,0.4159629706485233],"tcp_quaternion_wxyz":[-0.00012345269978368572,0.707141546340388,0.7070718939310975,0.00039371493005222114],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,2.0067778567461664e-18,-1.8877834531018466e-17,-1.0694234818299286e-07],"object_linear_velocity_m_s":[2.2174847324542353e-17,1.842568988828269e-18,1.1679013353506417e-14],"object_angular_velocity_rad_s":[1.4106515028034105e-16,8.503662719943929e-16,-3.1240666005630793e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931357358783259,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9738753789852916,-1.570062318436282,1.3763604901518405,-1.4025735647608935,-1.5708235036200346,-0.40307934403874685,0.0],"actuator_force":[-0.033343863486607006,-21.66656816188788,-21.81297912537093,-2.2877678789128595,0.0025492177156820617,0.008406396406968497,-0.29444457014317105],"issued_joint_targets_rad":[-1.974041429969578,-1.560052535376483,1.3917015964776585,-1.4021798227907574,-1.5708245424205038,-0.4032408844506395],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.580000000000866,"joint_targets_rad":[-1.974041429969578,-1.560052535376483,1.3917015964776585,-1.4021798227907574,-1.5708245424205038,-0.4032408844506395],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.600000000000873,"qpos":[-1.9724842189359275,-1.5526647028893026,1.34179142016678,-1.3606504877437333,-1.570858750641846,-0.40159924214009535,0.0029316945033830088,0.00015663635929841506,0.0031911438047884425,-0.0034278518163648936,0.002931561289191128,0.0001559891243611382,0.0031922726276185456,-0.0034372831856099803,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,7.35778440351476e-18,1.5690977914836742e-17,-1.0738234425199798e-07],"qvel":[-0.0076812626002369985,-0.036123046489521436,0.25281956480989887,-0.2088782375527715,0.00015059972422882279,-0.008291688794760436,0.00013887018571160812,4.290658679759059e-05,6.153265032300075e-05,-0.00025462513722637915,0.00011762687645391222,-1.2747118857082246e-05,-0.0002054164413442902,-0.00028789551093304547,-1.5933267976609703e-17,4.950509801229002e-18,1.1572154387386247e-14,5.633525337651761e-18,9.97974657607014e-16,-1.2557767450181227e-08],"joint_position_rad":[-1.9724842189359275,-1.5526647028893026,1.34179142016678,-1.3606504877437333,-1.570858750641846,-0.40159924214009535],"joint_velocity_rad_s":[-0.0076812626002369985,-0.036123046489521436,0.25281956480989887,-0.2088782375527715,0.00015059972422882279,-0.008291688794760436],"linkage_position_rad":[0.0029316945033830088,0.00015663635929841506,0.0031911438047884425,-0.0034278518163648936,0.002931561289191128,0.0001559891243611382,0.0031922726276185456,-0.0034372831856099803],"tcp_position_m":[0.06872963817973989,0.5044932469756727,0.4142540096077364],"tcp_quaternion_wxyz":[-0.00010723739215100055,0.7071380839080044,0.707075382840588,0.000348952566332196],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,7.35778440351476e-18,1.5690977914836742e-17,-1.0738234425199798e-07],"object_linear_velocity_m_s":[-1.5933267976609703e-17,4.950509801229002e-18,1.1572154387386247e-14],"object_angular_velocity_rad_s":[5.633739273280825e-18,9.979746565819038e-16,-1.2557767450181232e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313568343720054,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9740368847881657,-1.5707165601222417,1.3814405397055403,-1.4070006338689856,-1.570823501147981,-0.40324088589618456,0.0],"actuator_force":[-0.03282666438190063,-21.654495870069695,-21.829586846438815,-2.2872493073489295,0.0025647745096648578,0.008347001431417311,-0.29444527493953443],"issued_joint_targets_rad":[-1.9742029392209872,-1.560696123249787,1.396767970487644,-1.4066033692996331,-1.5708245310204696,-0.40340242583496116],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.600000000000873,"joint_targets_rad":[-1.9742029392209872,-1.560696123249787,1.396767970487644,-1.4066033692996331,-1.5708245310204696,-0.40340242583496116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.620000000000879,"qpos":[-1.9726473904362185,-1.5534330121959223,1.3470088479570936,-1.3650134841331076,-1.5708555074752897,-0.4017713303958074,0.002932149416426925,0.00015663585880564711,0.0031916083422269723,-0.0034282805997299594,0.002932016052821704,0.00015599009882481305,0.00319273672219671,-0.00343771339636166,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-6.957976727028376e-18,2.6879469065817066e-17,-1.0772939898636899e-07],"qvel":[-0.007674424812672717,-0.03548957671275709,0.2520621987664849,-0.2091843480970638,0.00013436116748042205,-0.008238417959108978,0.00013436861698241391,4.287316952963061e-05,5.841883922944802e-05,-0.00025003641532760095,0.00011317447451345023,-1.2521190523607703e-05,-0.00020767620545247974,-0.00028331603396900646,-4.378439008374582e-17,-2.7916966294372326e-17,1.1892731285746761e-14,-2.0487529413145987e-15,1.3505730824046084e-15,-5.0478284715282255e-08],"joint_position_rad":[-1.9726473904362185,-1.5534330121959223,1.3470088479570936,-1.3650134841331076,-1.5708555074752897,-0.4017713303958074],"joint_velocity_rad_s":[-0.007674424812672717,-0.03548957671275709,0.2520621987664849,-0.2091843480970638,0.00013436116748042205,-0.008238417959108978],"linkage_position_rad":[0.002932149416426925,0.00015663585880564711,0.0031916083422269723,-0.0034282805997299594,0.002932016052821704,0.00015599009882481305,0.00319273672219671,-0.00343771339636166],"tcp_position_m":[0.0688161817139131,0.5044940895838664,0.41254494959804955],"tcp_quaternion_wxyz":[-9.256707516116296e-05,0.707134940628434,0.7070785472940715,0.0003084319413074375],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-6.957976727028376e-18,2.6879469065817066e-17,-1.0772939898636899e-07],"object_linear_velocity_m_s":[-4.378439008374582e-17,-2.7916966294372326e-17,1.1892731285746761e-14],"object_angular_velocity_rad_s":[-2.0487526530353584e-15,1.3505735231239706e-15,-5.0478284715282275e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313564002044436,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9741983945553776,-1.571352382587726,1.3864984107620448,-1.4114239458916977,-1.5708234788353872,-0.4034024273878165,0.0],"actuator_force":[-0.032238313248853956,-21.642910098504217,-21.84575389669135,-2.2867960695887177,0.002578203203142948,0.008293299906370066,-0.29444598891991075],"issued_joint_targets_rad":[-1.9743644546424595,-1.5613212488392407,1.401812203804417,-1.4110232804804241,-1.5708245011284792,-0.40356396998522276],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.620000000000879,"joint_targets_rad":[-1.9743644546424595,-1.5613212488392407,1.401812203804417,-1.4110232804804241,-1.5708245011284792,-0.40356396998522276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.640000000000886,"qpos":[-1.972810377031796,-1.5541877537735007,1.3522100620887598,-1.3693819864452388,-1.5708525717468382,-0.4019424079542507,0.0029325221820127195,0.00015663535834084676,0.0031919911223352443,-0.0034286314857294863,0.002932388710959958,0.00015599120855962253,0.0031931201097991687,-0.003438065379146743,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.1356656938601316e-17,2.4325886764369897e-17,-1.0792079732744319e-07],"qvel":[-0.00766870455278495,-0.03483098142449217,0.25127499787240337,-0.2094443078164803,0.00011976612696989672,-0.008190266008557129,0.00013068953529604804,4.284049696925805e-05,5.6110990393230205e-05,-0.0002462319815125325,0.00010954369333422829,-1.2298623782410799e-05,-0.00020914763541910866,-0.0002795229093920986,-2.72053552050067e-17,-1.242726601674883e-17,1.1962120224785833e-14,4.0400698855507585e-16,-9.28727598031609e-16,-5.4626302980276866e-09],"joint_position_rad":[-1.972810377031796,-1.5541877537735007,1.3522100620887598,-1.3693819864452388,-1.5708525717468382,-0.4019424079542507],"joint_velocity_rad_s":[-0.00766870455278495,-0.03483098142449217,0.25127499787240337,-0.2094443078164803,0.00011976612696989672,-0.008190266008557129],"linkage_position_rad":[0.0029325221820127195,0.00015663535834084676,0.0031919911223352443,-0.0034286314857294863,0.002932388710959958,0.00015599120855962253,0.0031931201097991687,-0.003438065379146743],"tcp_position_m":[0.06890272301305077,0.5044949383252589,0.41083578700260004],"tcp_quaternion_wxyz":[-7.929272952400272e-05,0.7071320873739313,0.7070814174295152,0.0002717438429113843],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.1356656938601316e-17,2.4325886764369897e-17,-1.0792079732744319e-07],"object_linear_velocity_m_s":[-2.72053552050067e-17,-1.242726601674883e-17,1.1962120224785833e-14],"object_angular_velocity_rad_s":[4.040067878312543e-16,-9.28727685357175e-16,-5.462630298027689e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313560399404514,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9743599109052514,-1.5719698507890727,1.3915343180672273,-1.4158436503398195,-1.5708234390780176,-0.4035639716348906,0.0],"actuator_force":[-0.031585925796662195,-21.63180146134755,-21.86148719202629,-2.28640116564236,0.002589721713320614,0.008244760535745854,-0.29444671079178525],"issued_joint_targets_rad":[-1.9745259787474911,-1.5619279633733774,1.4068345018379411,-1.4154397044474136,-1.5708244549616177,-0.40372551979363047],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.640000000000886,"joint_targets_rad":[-1.9745259787474911,-1.5619279633733774,1.4068345018379411,-1.4154397044474136,-1.5708244549616177,-0.40372551979363047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.660000000000893,"qpos":[-1.9729732001047684,-1.5549284555560916,1.3573945133974694,-1.3737551311673228,-1.5708499124585058,-0.40211257222278324,0.0029328276289619063,0.00015663485519502054,0.003192306890308375,-0.003428918546882191,0.002932694087971869,0.00015599243430423516,0.0031934374212145337,-0.0034383532400729393,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-4.046991030864823e-18,4.1208275051918823e-17,-1.0833215852836769e-07],"qvel":[-0.007663991158970078,-0.03414994547359115,0.2504617547967922,-0.2096632241054124,0.0001066471008982996,-0.008146755558304143,0.0001276845345461244,4.2808573961440896e-05,5.446173520371184e-05,-0.00024307075284324541,0.00010658617750197177,-1.20792411123611e-05,-0.00020997721287168515,-0.00027637500330699203,-5.354468042359534e-17,-6.389098863826792e-18,1.203289694260569e-14,7.274457940466172e-16,-3.8740007805809825e-17,-2.195805970864194e-08],"joint_position_rad":[-1.9729732001047684,-1.5549284555560916,1.3573945133974694,-1.3737551311673228,-1.5708499124585058,-0.40211257222278324],"joint_velocity_rad_s":[-0.007663991158970078,-0.03414994547359115,0.2504617547967922,-0.2096632241054124,0.0001066471008982996,-0.008146755558304143],"linkage_position_rad":[0.0029328276289619063,0.00015663485519502054,0.003192306890308375,-0.003428918546882191,0.002932694087971869,0.00015599243430423516,0.0031934374212145337,-0.0034383532400729393],"tcp_position_m":[0.06898926584315543,0.5044957954774105,0.4091265186456762],"tcp_quaternion_wxyz":[-6.727969225859464e-05,0.707129497640824,0.7070840205722333,0.00023851851813899057],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-4.046991030864823e-18,4.1208275051918823e-17,-1.0833215852836769e-07],"object_linear_velocity_m_s":[-5.354468042359534e-17,-6.389098863826792e-18,1.203289694260569e-14],"object_angular_velocity_rad_s":[7.274457838433156e-16,-3.874016559508305e-17,-2.1958059708641954e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313557401992069,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9745214362901145,-1.5725690254050273,1.3965484678294693,-1.420259892564523,-1.5708233839874337,-0.40372552153065433,0.0],"actuator_force":[-0.030875907104018552,-21.621161508434852,-21.876793054717382,-2.2860582880588254,0.0025995254461577133,0.008200901894866774,-0.29444743940692925],"issued_joint_targets_rad":[-1.9746875138926252,-1.5625163150062553,1.4118350621490323,-1.419852785189054,-1.5708243944781015,-0.40388707794865064],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.660000000000893,"joint_targets_rad":[-1.9746875138926252,-1.5625163150062553,1.4118350621490323,-1.419852785189054,-1.5708243944781015,-0.40388707794865064],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.680000000000899,"qpos":[-1.9731358789271098,-1.5556546961193718,1.362561724109471,-1.3781321513512126,-1.5708475017681953,-0.40228191153062065,0.0029330779098515813,0.0001566343475494025,0.003192567729305917,-0.0034291533154263963,0.0029329443324257703,0.00015599375942018835,0.0031937006367636005,-0.003438588541720709,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-5.062369287529933e-18,3.541285023259859e-17,-1.0855999337524899e-07],"qvel":[-0.0076601853709374924,-0.0334488781960567,0.2496258639927395,-0.20984569599983127,9.485380898403805e-05,-0.008107454047070365,0.00012523198412762312,4.2777397822216284e-05,5.3350335159270037e-05,-0.00024043708442920929,0.00010418034234350833,-1.1862885939267339e-05,-0.0002102848673584355,-0.00027375662331196525,-8.222748042443165e-17,-5.249994496938754e-17,1.2045386951632726e-14,-2.9074423431686915e-15,2.16437272536269e-15,-8.826450992710712e-08],"joint_position_rad":[-1.9731358789271098,-1.5556546961193718,1.362561724109471,-1.3781321513512126,-1.5708475017681953,-0.40228191153062065],"joint_velocity_rad_s":[-0.0076601853709374924,-0.0334488781960567,0.2496258639927395,-0.20984569599983127,9.485380898403805e-05,-0.008107454047070365],"linkage_position_rad":[0.0029330779098515813,0.0001566343475494025,0.003192567729305917,-0.0034291533154263963,0.0029329443324257703,0.00015599375942018835,0.0031937006367636005,-0.003438588541720709],"tcp_position_m":[0.06907581367846187,0.5044966632093097,0.40741714174845106],"tcp_quaternion_wxyz":[-5.640627382947414e-05,0.7071271473184142,0.707086381500859,0.0002084218673288783],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-5.062369287529933e-18,3.541285023259859e-17,-1.0855999337524899e-07],"object_linear_velocity_m_s":[-8.222748042443165e-17,-5.249994496938754e-17,1.2045386951632726e-14],"object_angular_velocity_rad_s":[-2.907441879491443e-15,2.164373355732829e-15,-8.826450992710718e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931355490024003,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9746829730120081,-1.5731499630764696,1.4015410582748304,-1.4246728140593086,-1.570823315427081,-0.40388707976451094,0.0],"actuator_force":[-0.0301140214219231,-21.610982635773325,-21.891677266376973,-2.285761754064879,0.002607789658782167,0.008161287761907943,-0.29444817374622323],"issued_joint_targets_rad":[-1.9748490622932808,-1.5630863489385858,1.4168140749343578,-1.4242626628649413,-1.5708243214094513,-0.4040486469573123],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.680000000000899,"joint_targets_rad":[-1.9748490622932808,-1.5630863489385858,1.4168140749343578,-1.4242626628649413,-1.5708243214094513,-0.4040486469573123],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.700000000000906,"qpos":[-1.9732984308775892,-1.5563660994674386,1.3677112803181812,-1.3825123669928192,-1.5708453146657428,-0.40245050598150706,0.0029332829839757864,0.00015663383427244387,0.003192783540986053,-0.003429345241792783,0.0029331494000090345,0.0001559951695117993,0.0031939195656770706,-0.0034387807619126742,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.3124454823166927e-17,3.303436356208181e-17,-1.0889466561839403e-07],"qvel":[-0.007657198163457814,-0.032729940772190116,0.24877036193783858,-0.20999586424880237,8.425139627113229e-05,-0.008071969543008317,0.0001232321980894851,4.27469604233965e-05,5.2677875358739416e-05,-0.00023823618125319278,0.0001022265435716184,-1.164941940777283e-05,-0.00021016877527886427,-0.0002715729308420326,-3.987863040027108e-17,-1.6474889994556765e-17,1.2045386951632726e-14,3.9424114921602753e-16,-1.1730044335084931e-15,-9.55175852127206e-09],"joint_position_rad":[-1.9732984308775892,-1.5563660994674386,1.3677112803181812,-1.3825123669928192,-1.5708453146657428,-0.40245050598150706],"joint_velocity_rad_s":[-0.007657198163457814,-0.032729940772190116,0.24877036193783858,-0.20999586424880237,8.425139627113229e-05,-0.008071969543008317],"linkage_position_rad":[0.0029332829839757864,0.00015663383427244387,0.003192783540986053,-0.003429345241792783,0.0029331494000090345,0.0001559951695117993,0.0031939195656770706,-0.0034387807619126742],"tcp_position_m":[0.06916236973602642,0.5044975436028936,0.4057076538890065],"tcp_quaternion_wxyz":[-4.6562508443454154e-05,0.7071250144773007,0.7070885226874783,0.0001811520054877402],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.3124454823166927e-17,3.303436356208181e-17,-1.0889466561839403e-07],"object_linear_velocity_m_s":[-3.987863040027108e-17,-1.6474889994556765e-17,1.2045386951632726e-14],"object_angular_velocity_rad_s":[3.942408931170948e-16,-1.1730045196207057e-15,-9.551758521272067e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313552804437727,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9748445232378415,-1.5737127166242433,1.4065122801478995,-1.429082552731235,-1.5708232350433557,-0.4040486488443331,0.0],"actuator_force":[-0.029305455121175328,-21.601258004733154,-21.90614511569902,-2.285506444327666,0.0026146715664481235,0.00812552288778079,-0.29444891290754655],"issued_joint_targets_rad":[-1.9750106260388844,-1.5636381075279884,1.4217717234637717,-1.4286694740728862,-1.5708242372882977,-0.4042102291658227],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.700000000000906,"joint_targets_rad":[-1.9750106260388844,-1.5636381075279884,1.4217717234637717,-1.4286694740728862,-1.5708242372882977,-0.4042102291658227],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.720000000000913,"qpos":[-1.973460871636584,-1.5570623303373412,1.3728428252211897,-1.386895176359036,-1.5708433286826593,-0.40261842822663935,0.002933451013154607,0.0001566333147578991,0.0031929624393135744,-0.0034295020703370375,0.0029333174492969785,0.00015599665210553896,0.003194102238859012,-0.003438937669726565,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.963365584073689e-17,2.3879689866387793e-17,-1.0925492020933343e-07],"qvel":[-0.007654949703032874,-0.03199507087337794,0.24789796331459135,-0.21011745645121488,7.471882895391891e-05,-0.00803994694388898,0.00012160347587423739,4.2717249720891336e-05,5.236332562672835e-05,-0.00023639033670326526,0.00010064311847637798,-1.143871773097919e-05,-0.0002097092917685177,-0.00026974617937665027,-3.391315431763055e-17,-3.515773246102318e-17,1.1573542166167036e-14,-7.213335671348213e-16,-1.1251557799631802e-15,-3.839507206049704e-08],"joint_position_rad":[-1.973460871636584,-1.5570623303373412,1.3728428252211897,-1.386895176359036,-1.5708433286826593,-0.40261842822663935],"joint_velocity_rad_s":[-0.007654949703032874,-0.03199507087337794,0.24789796331459135,-0.21011745645121488,7.471882895391891e-05,-0.00803994694388898],"linkage_position_rad":[0.002933451013154607,0.0001566333147578991,0.0031929624393135744,-0.0034295020703370375,0.0029333174492969785,0.00015599665210553896,0.003194102238859012,-0.003438937669726565],"tcp_position_m":[0.06924893700720591,0.5044984386728574,0.40399805296626423],"tcp_quaternion_wxyz":[-3.764902469013426e-05,0.707123079175667,0.7070904645145507,0.00015643615527375957],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.963365584073689e-17,2.3879689866387793e-17,-1.0925492020933343e-07],"object_linear_velocity_m_s":[-3.391315431763055e-17,-3.515773246102318e-17,1.1573542166167036e-14],"object_angular_velocity_rad_s":[-7.213338148261395e-16,-1.1251556238523428e-15,-3.8395072060497076e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313551041138302,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9750060890139105,-1.574257335246634,1.41146231716332,-1.4334892431446766,-1.5708231442924214,-0.4042102311170879,0.0],"actuator_force":[-0.02845487343984132,-21.591981469234724,-21.920201441575955,-2.2852877476989306,0.0026203122235983756,0.008093249164630834,-0.2944496560943324],"issued_joint_targets_rad":[-1.9751722071072908,-1.5641716303889555,1.4267081844744958,-1.4330733520893058,-1.570824143472466,-0.4043718267786299],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.720000000000913,"joint_targets_rad":[-1.9751722071072908,-1.5641716303889555,1.4267081844744958,-1.4330733520893058,-1.570824143472466,-0.4043718267786299],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.7400000000009195,"qpos":[-1.9736232153610915,-1.5577430899700124,1.3779560530409185,-1.3912800481688214,-1.5708415236319773,-0.4027857441653397,0.0029335886861172485,0.00015663278879572793,0.003193111073283004,-0.0034296301472593656,0.0029334551660997465,0.0001559981963779993,0.003194255230675318,-0.0034390656336664976,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.5889942791737436e-17,1.402393324433913e-17,-1.0940050267393684e-07],"qvel":[-0.0076533684143030856,-0.031246004864540308,0.24701109353886966,-0.21021382774537983,6.614746081454019e-05,-0.008011064534373386,0.0001202788572796498,4.268825064308884e-05,5.234031148096489e-05,-0.00023483585224278508,9.93631413073577e-05,-1.1230669924565362e-05,-0.00020897217288471233,-0.00026821263286562935,-1.846540166715543e-17,-2.0112950860170123e-17,1.132512976440716e-14,8.339874572779716e-16,-7.127543389815614e-16,-4.155016065138536e-09],"joint_position_rad":[-1.9736232153610915,-1.5577430899700124,1.3779560530409185,-1.3912800481688214,-1.5708415236319773,-0.4027857441653397],"joint_velocity_rad_s":[-0.0076533684143030856,-0.031246004864540308,0.24701109353886966,-0.21021382774537983,6.614746081454019e-05,-0.008011064534373386],"linkage_position_rad":[0.0029335886861172485,0.00015663278879572793,0.003193111073283004,-0.0034296301472593656,0.0029334551660997465,0.0001559981963779993,0.003194255230675318,-0.0034390656336664976],"tcp_position_m":[0.06933551828633759,0.5044993503849686,0.40228833716743667],"tcp_quaternion_wxyz":[-2.9576024946517074e-05,0.7071213232821417,0.707092225470984,0.00013402783965102844],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.5889942791737436e-17,1.402393324433913e-17,-1.0940050267393684e-07],"object_linear_velocity_m_s":[-1.846540166715543e-17,-2.0112950860170123e-17,1.132512976440716e-14],"object_angular_velocity_rad_s":[8.339873012100471e-16,-7.12754521590885e-16,-4.155016065138539e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313549550215446,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9751676722797682,-1.574783864698011,1.416391346412664,-1.4378930167406148,-1.5708230444634046,-0.4043718287879076,0.0],"actuator_force":[-0.027566471631871536,-21.58314751018088,-21.933850672056906,-2.2851015113586755,0.0026248382048379426,0.00806414215338691,-0.2944504026037848],"issued_joint_targets_rad":[-1.975333807378478,-1.5646869544830868,1.431623628526185,-1.437474427085766,-1.5708240411658778,-0.4045334418760664],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.7400000000009195,"joint_targets_rad":[-1.975333807378478,-1.5646869544830868,1.431623628526185,-1.437474427085766,-1.5708240411658778,-0.4045334418760664],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.760000000000926,"qpos":[-1.973785474842013,-1.558408112301319,1.3830507035599011,-1.3956665145443,-1.5708398813750206,-0.4029525135802629,0.0029337014843482754,0.00015663225647017984,0.003193234891394451,-0.0034297346729659454,0.002933568029276001,0.00015599979292561775,0.0031943839225845993,-0.0034391698742514774,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.0794665272548357e-17,2.7020359146503252e-17,-1.0985838972240249e-07],"qvel":[-0.007652390144322538,-0.030484297802407703,0.2461119180036521,-0.21028799749058844,5.843975150500495e-05,-0.007985030866778734,0.00011920346312791571,4.265994624782063e-05,5.255446938705441e-05,-0.00023352050904576087,9.833176429441835e-05,-1.1025175893649049e-05,-0.00020801121509217164,-0.0002669200385521046,-3.351194289790241e-17,-1.6922421844499853e-17,1.1257128604148874e-14,5.422031539404964e-16,-2.960941275741369e-16,-1.670186080167688e-08],"joint_position_rad":[-1.973785474842013,-1.558408112301319,1.3830507035599011,-1.3956665145443,-1.5708398813750206,-0.4029525135802629],"joint_velocity_rad_s":[-0.007652390144322538,-0.030484297802407703,0.2461119180036521,-0.21028799749058844,5.843975150500495e-05,-0.007985030866778734],"linkage_position_rad":[0.0029337014843482754,0.00015663225647017984,0.003193234891394451,-0.0034297346729659454,0.002933568029276001,0.00015599979292561775,0.0031943839225845993,-0.0034391698742514774],"tcp_position_m":[0.06942211619692716,0.5045002806730658,0.40057850493867375],"tcp_quaternion_wxyz":[-2.2262363073687165e-05,0.7071197303139323,0.7070938223294418,0.00011370434531308448],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.0794665272548357e-17,2.7020359146503252e-17,-1.0985838972240249e-07],"object_linear_velocity_m_s":[-3.351194289790241e-17,-1.6922421844499853e-17,1.1257128604148874e-14],"object_angular_velocity_rad_s":[5.42203087981055e-16,-2.9609424706584273e-16,-1.6701860801676892e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931354828245213,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.975329274881424,-1.575292347450031,1.4212995387308436,-1.4422940020340858,-1.5708229366985036,-0.40453344393774143,0.0],"actuator_force":[-0.026644021093034098,-21.574751176461177,-21.94709685957605,-2.2849439958340554,0.002628363108101439,0.008037907938614808,-0.2944511518183255],"issued_joint_targets_rad":[-1.9754954286475381,-1.565184114200136,1.4365182203205555,-1.4418728263242382,-1.5708239314367456,-0.4046950764307113],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.760000000000926,"joint_targets_rad":[-1.9754954286475381,-1.565184114200136,1.4365182203205555,-1.4418728263242382,-1.5708239314367456,-0.4046950764307113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.780000000000933,"qpos":[-1.9739476616455707,-1.5590571605314762,1.3881265572085906,-1.4000541646560505,-1.5708383856122494,-0.4031187907132935,0.002933793899959784,0.00015663171807906893,0.0031933383583904237,-0.0034298199088771564,0.0029336605285758066,0.00015600143356863573,0.0031944927191160564,-0.00343925467103217,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-8.661631197149892e-18,2.94480206612814e-17,-1.1012824142296427e-07],"qvel":[-0.007651957414290228,-0.029711341446371064,0.24520236836851325,-0.2103426823364207,5.150811993756988e-05,-0.00796158193493451,0.00011833231557912629,4.263231830712791e-05,5.2961277924128606e-05,-0.0002324014984347979,9.750403828957913e-05,-1.082214490428266e-05,-0.00020687041861972138,-0.000265825556988811,-6.881582663012975e-17,-1.0481570155469127e-17,1.1240475258779499e-14,-2.545603604199212e-16,2.695305829011962e-15,-6.713623963552952e-08],"joint_position_rad":[-1.9739476616455707,-1.5590571605314762,1.3881265572085906,-1.4000541646560505,-1.5708383856122494,-0.4031187907132935],"joint_velocity_rad_s":[-0.007651957414290228,-0.029711341446371064,0.24520236836851325,-0.2103426823364207,5.150811993756988e-05,-0.00796158193493451],"linkage_position_rad":[0.002933793899959784,0.00015663171807906893,0.0031933383583904237,-0.0034298199088771564,0.0029336605285758066,0.00015600143356863573,0.0031944927191160564,-0.00343925467103217],"tcp_position_m":[0.06950873321561368,0.5045012314549356,0.39886855495860196],"tcp_quaternion_wxyz":[-1.563471094970394e-05,0.7071182852890038,0.7070952703067547,9.526443076601531e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-8.661631197149892e-18,2.94480206612814e-17,-1.1012824142296427e-07],"object_linear_velocity_m_s":[-6.881582663012975e-17,-1.0481570155469127e-17,1.1240475258779499e-14],"object_angular_velocity_rad_s":[-2.5455977071539205e-16,2.6953058839174505e-15,-6.71362396355296e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313547197565168,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.975490898583886,-1.5757828228367103,1.4261870590258767,-1.4466923247921621,-1.5708228220104685,-0.4046950785397242,0.0],"actuator_force":[-0.025690910914363485,-21.566788031919714,-21.959943712833137,-2.2848118344138584,0.0026309888966125072,0.008014280278104025,-0.294451903196123],"issued_joint_targets_rad":[-1.975657072637004,-1.565663141430379,1.441392118988869,-1.4462686743333553,-1.570823815233424,-0.4048567323225954],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.780000000000933,"joint_targets_rad":[-1.975657072637004,-1.565663141430379,1.441392118988869,-1.4462686743333553,-1.570823815233424,-0.4048567323225954],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.8000000000009395,"qpos":[-1.9741097862405035,-1.5596900240352078,1.3931834306498605,-1.4044426389942355,-1.5708370216956582,-0.4032846247877025,0.0029338696142466106,0.0001566311740704754,0.0031934251328691095,-0.0034298893469222676,0.0029337363431694834,0.00015600311118441906,0.003194585224799991,-0.003439323532274804,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-7.137305589549363e-18,3.079286031038864e-17,-1.1038280167525254e-07],"qvel":[-0.0076520187495318324,-0.02892838047745959,0.24428416619195278,-0.21038032603643048,4.527391819036482e-05,-0.00794047861363384,0.00011762855178105179,4.260534785135483e-05,5.352428127574326e-05,-0.0002314437248443236,9.68431267139792e-05,-1.062149421377511e-05,-0.00020558575964976265,-0.0002648940646126804,-3.7032854499094426e-17,-7.928801010507743e-18,1.1133616292659325e-14,2.6974786028900534e-16,-9.434221710516568e-16,-7.2653113868124324e-09],"joint_position_rad":[-1.9741097862405035,-1.5596900240352078,1.3931834306498605,-1.4044426389942355,-1.5708370216956582,-0.4032846247877025],"joint_velocity_rad_s":[-0.0076520187495318324,-0.02892838047745959,0.24428416619195278,-0.21038032603643048,4.527391819036482e-05,-0.00794047861363384],"linkage_position_rad":[0.0029338696142466106,0.0001566311740704754,0.0031934251328691095,-0.0034298893469222676,0.0029337363431694834,0.00015600311118441906,0.003194585224799991,-0.003439323532274804],"tcp_position_m":[0.06959537169416093,0.5045022046472274,0.39715848611447524],"tcp_quaternion_wxyz":[-9.626805276383528e-06,0.7071169745911601,0.7070965832091087,7.852625546881602e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-7.137305589549363e-18,3.079286031038864e-17,-1.1038280167525254e-07],"object_linear_velocity_m_s":[-3.7032854499094426e-17,-7.928801010507743e-18,1.1133616292659325e-14],"object_angular_velocity_rad_s":[2.697476515663948e-16,-9.434222307063932e-16,-7.265311386812441e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313546262587075,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9756525450830857,-1.5762553271845547,1.4310540665754221,-1.4510881081945863,-1.5708227012978146,-0.40485673447438747,0.0],"actuator_force":[-0.02471018535152325,-21.559254107709876,-21.972394625658126,-2.2847019965323625,0.002632807102827428,0.007993018020926002,-0.2944526562632799],"issued_joint_targets_rad":[-1.975818741008541,-1.5661240656287514,1.4462454783501788,-1.45066209306764,-1.5708236933982689,-0.4050184113533715],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.8000000000009395,"joint_targets_rad":[-1.975818741008541,-1.5661240656287514,1.4462454783501788,-1.45066209306764,-1.5708236933982689,-0.4050184113533715],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.820000000000946,"qpos":[-1.9742718581125354,-1.5603065155787075,1.3982211728099685,-1.4088316242039647,-1.5708357764604688,-0.40345006048161847,0.0029339316440194557,0.0001566306249934102,0.0031934982128372794,-0.0034299458484395853,0.002933798487957006,0.00015600481956516417,0.0031946643891057674,-0.0034393793340308566,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-2.6461475530645863e-19,5.196356667926953e-17,-1.1080223561454413e-07],"qvel":[-0.00765252807942031,-0.028136527101674694,0.243358844173552,-0.21040312632718033,3.9666512774170783e-05,-0.007921504338764011,0.00011706195980170384,4.257901558506395e-05,5.421363304565163e-05,-0.00023061841472735292,9.631884175119835e-05,-1.0423147956339004e-05,-0.00020418664215983193,-0.0002640967623340209,-7.006495998463587e-17,4.181424437046409e-18,1.1712320044245194e-14,3.0386073893714013e-16,6.581027802472629e-16,-2.9204272031932486e-08],"joint_position_rad":[-1.9742718581125354,-1.5603065155787075,1.3982211728099685,-1.4088316242039647,-1.5708357764604688,-0.40345006048161847],"joint_velocity_rad_s":[-0.00765252807942031,-0.028136527101674694,0.243358844173552,-0.21040312632718033,3.9666512774170783e-05,-0.007921504338764011],"linkage_position_rad":[0.0029339316440194557,0.0001566306249934102,0.0031934982128372794,-0.0034299458484395853,0.002933798487957006,0.00015600481956516417,0.0031946643891057674,-0.0034393793340308566],"tcp_position_m":[0.06968203387970565,0.5045032021795648,0.3954482974806884],"tcp_quaternion_wxyz":[-4.178766937596096e-06,0.7071157858469644,0.7070977735634917,6.332550870981452e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-2.6461475530645863e-19,5.196356667926953e-17,-1.1080223561454413e-07],"object_linear_velocity_m_s":[-7.006495998463587e-17,4.181424437046409e-18,1.1712320044245194e-14],"object_angular_velocity_rad_s":[3.0386088174053537e-16,6.581027128948936e-16,-2.920427203193252e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313545450540453,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9758142160172096,-1.5767098939288147,1.4359007152931025,-1.4554814729788714,-1.570822575358108,-0.4050184135438358,0.0],"actuator_force":[-0.02370457758070188,-21.552145859544453,-21.984452703152783,-2.284611754735238,0.002633899903003112,0.007973902767759,-0.2944534106065876],"issued_joint_targets_rad":[-1.9759804353740775,-1.5665669138711704,1.4510784471429707,-1.455053202051539,-1.5708235666797612,-0.40518011525956715],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.820000000000946,"joint_targets_rad":[-1.9759804353740775,-1.5665669138711704,1.4510784471429707,-1.455053202051539,-1.5708235666797612,-0.40518011525956715],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.840000000000953,"qpos":[-1.9744338858674328,-1.5609064688128154,1.4032396613107911,-1.413220848429375,-1.570834638074099,-0.40361513835738844,0.002933982461530446,0.0001566300714596107,0.003193560054988519,-0.003429991758002121,0.002933849433472222,0.000156006553296166,0.003194732625168011,-0.0034394244341229415,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,2.272311192860331e-18,3.9232044833788844e-17,-1.1091296935382867e-07],"qvel":[-0.007653444200053849,-0.0273367741967165,0.24242776524623855,-0.21041305916221925,3.462246180304872e-05,-0.00790446300559178,0.00011660777870969254,4.255330214716804e-05,5.500490297201312e-05,-0.0002299019762721047,9.590644466680102e-05,-1.0227036186603856e-05,-0.00020269708756841893,-0.00026341003537030337,-4.598226054807027e-17,7.2208256603615e-19,1.1612399972028927e-14,2.2097937218513902e-16,-1.9203622594163363e-15,-3.1604112963341256e-09],"joint_position_rad":[-1.9744338858674328,-1.5609064688128154,1.4032396613107911,-1.413220848429375,-1.570834638074099,-0.40361513835738844],"joint_velocity_rad_s":[-0.007653444200053849,-0.0273367741967165,0.24242776524623855,-0.21041305916221925,3.462246180304872e-05,-0.00790446300559178],"linkage_position_rad":[0.002933982461530446,0.0001566300714596107,0.003193560054988519,-0.003429991758002121,0.002933849433472222,0.000156006553296166,0.003194732625168011,-0.0034394244341229415],"tcp_position_m":[0.06976872193346745,0.5045042260080028,0.3937379882994346],"tcp_quaternion_wxyz":[7.635140776307351e-07,0.7071147078135087,0.7070988527367472,4.951371896078917e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,2.272311192860331e-18,3.9232044833788844e-17,-1.1091296935382867e-07],"object_linear_velocity_m_s":[-4.598226054807027e-17,7.2208256603615e-19,1.1612399972028927e-14],"object_angular_velocity_rad_s":[2.209789459509942e-16,-1.9203623084208853e-15,-3.160411296334129e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.093135447393522,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9759759129775014,-1.5771465537168379,1.4407271539673467,-1.4598725375715629,-1.5708224448995751,-0.4051801174850036,0.0],"actuator_force":[-0.022676540115753596,-21.545460129358617,-21.99612078538439,-2.2845386548719944,0.0026343410814888557,0.007956736751594917,-0.29445416586701584],"issued_joint_targets_rad":[-1.9761421573064113,-1.5669917109033786,1.4558911692324896,-1.4594421185098279,-1.5708234357431445,-0.405341845725031],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.840000000000953,"joint_targets_rad":[-1.9761421573064113,-1.5669917109033786,1.4558911692324896,-1.4594421185098279,-1.5708234357431445,-0.405341845725031],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.8600000000009596,"qpos":[-1.9745958773238528,-1.5614897360148234,1.4082387992627001,-1.4176100771163558,-1.5708335959006174,-0.4037798952509806,0.0029340240927564687,0.00015662951411437527,0.0031936126724470717,-0.003430028996716789,0.002933891204146952,0.00015600830765157304,0.003194791907032916,-0.003439460765576315,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-7.20371525901145e-18,2.1591873111678597e-17,-1.1135808423920642e-07],"qvel":[-0.007654730293089442,-0.026530007145220587,0.24149213973431205,-0.2104119005616369,3.008477774785353e-05,-0.0078891770648069,0.0001162457151462158,4.252818842927596e-05,5.587809893142294e-05,-0.0002292750650507372,9.55856625864393e-05,-1.0033094106200441e-05,-0.00020113670947327153,-0.0002628145193258065,-2.765923911716639e-17,-8.307523710090706e-18,1.1191903001452148e-14,-2.852917208015027e-17,-1.3189797711693364e-15,-1.2703861722733563e-08],"joint_position_rad":[-1.9745958773238528,-1.5614897360148234,1.4082387992627001,-1.4176100771163558,-1.5708335959006174,-0.4037798952509806],"joint_velocity_rad_s":[-0.007654730293089442,-0.026530007145220587,0.24149213973431205,-0.2104119005616369,3.008477774785353e-05,-0.0078891770648069],"linkage_position_rad":[0.0029340240927564687,0.00015662951411437527,0.0031936126724470717,-0.003430028996716789,0.002933891204146952,0.00015600830765157304,0.003194791907032916,-0.003439460765576315],"tcp_position_m":[0.06985543794811691,0.5045052781279651,0.3920275579632896],"tcp_quaternion_wxyz":[5.248934506172111e-06,0.707113730276117,0.7070998310434271,3.695672628743484e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-7.20371525901145e-18,2.1591873111678597e-17,-1.1135808423920642e-07],"object_linear_velocity_m_s":[-2.765923911716639e-17,-8.307523710090706e-18,1.1191903001452148e-14],"object_angular_velocity_rad_s":[-2.85294663868709e-17,-1.3189797649984274e-15,-1.270386172273358e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313544110964164,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9761376375185788,-1.5775653344993599,1.4455335264751359,-1.4642614182070972,-1.5708223105512797,-0.405341847982107,0.0],"actuator_force":[-0.021628272216275946,-21.53919411098468,-22.007401468853004,-2.2844804892069988,0.002634196894064189,0.007941340917540174,-0.2944549217338343],"issued_joint_targets_rad":[-1.9763039083493736,-1.5673984791825994,1.460683783795786,-1.4638289574858152,-1.5708233011797705,-0.40550360439268507],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.8600000000009596,"joint_targets_rad":[-1.9763039083493736,-1.5673984791825994,1.460683783795786,-1.4638289574858152,-1.5708233011797705,-0.40550360439268507],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.880000000000966,"qpos":[-1.9747578395970375,-1.5620561860540279,1.4132185123814953,-1.4219991092288136,-1.5708326403790736,-0.40394436462519206,0.0029340581979458388,0.0001566289536144325,0.0031936577148697688,-0.00343005913866729,0.0029339254588403633,0.00015601007850497443,0.0031948438493095807,-0.0034394899131999107,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-7.184572946615943e-18,7.220903061941434e-18,-1.117091765311414e-07],"qvel":[-0.007656353495050795,-0.02571701448360936,0.2405530407712608,-0.21040124631223936,2.6002266698957955e-05,-0.007875485797870932,0.00011595913730221341,4.250365561159137e-05,5.681686578082429e-05,-0.00022872181764941346,9.533988267168229e-05,-9.841261324843019e-06,-0.00019952151175167858,-0.0002622943334279863,-2.0014562045662286e-18,-4.492143786418034e-18,1.1114187389728387e-14,-2.8261526363259594e-17,-1.4180836398425306e-15,-5.1065537848832796e-08],"joint_position_rad":[-1.9747578395970375,-1.5620561860540279,1.4132185123814953,-1.4219991092288136,-1.5708326403790736,-0.40394436462519206],"joint_velocity_rad_s":[-0.007656353495050795,-0.02571701448360936,0.2405530407712608,-0.21040124631223936,2.6002266698957955e-05,-0.007875485797870932],"linkage_position_rad":[0.0029340581979458388,0.0001566289536144325,0.0031936577148697688,-0.00343005913866729,0.0029339254588403633,0.00015601007850497443,0.0031948438493095807,-0.0034394899131999107],"tcp_position_m":[0.06994218396397826,0.504506360586801,0.3903170059995461],"tcp_quaternion_wxyz":[9.321680097412202e-06,0.7071128439551373,0.7071007178435287,2.5533302097548377e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-7.184572946615943e-18,7.220903061941434e-18,-1.117091765311414e-07],"object_linear_velocity_m_s":[-2.0014562045662286e-18,-4.492143786418034e-18,1.1114187389728387e-14],"object_angular_velocity_rad_s":[-2.826184392664892e-17,-1.4180836342621217e-15,-5.106553784883286e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313543550604744,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9762993911683349,-1.5779662616104766,1.4503199719727655,-1.4686482290355736,-1.570822172872053,-0.40550360667839896,0.0],"actuator_force":[-0.020561744574479235,-21.533345319453474,-22.01829712596418,-2.284435272156088,0.002633526840440936,0.007927553183634473,-0.2944556779391796],"issued_joint_targets_rad":[-1.9764656900276143,-1.567787238912217,1.465456425486249,-1.4682138319485913,-1.5708231635153243,-0.4056653928756886],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.880000000000966,"joint_targets_rad":[-1.9764656900276143,-1.567787238912217,1.465456425486249,-1.4682138319485913,-1.5708231635153243,-0.4056653928756886],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.900000000000973,"qpos":[-1.9749197791743265,-1.562605702558604,1.4181787463964968,-1.4263877738377868,-1.5708317629142616,-0.4041085768900718,0.002934086137628821,0.00015662839061122147,0.0031936965340817083,-0.0034300834735717894,0.0029339535568339227,0.00015601186225238032,0.0031948897724068345,-0.003439513176347529,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-5.6127091595668015e-18,1.1090598394896581e-18,-1.1190280155793179e-07],"qvel":[-0.007658284511957922,-0.02489849748264397,0.23961141815152284,-0.21038252972995627,2.232893599062087e-05,-0.007863243754986352,0.00011573441431376971,4.247968531405875e-05,5.780782845581535e-05,-0.00022822922476340273,9.515549168647083e-05,-9.651481344520235e-06,-0.00019786454289540313,-0.0002618364528772886,-3.1479790163005745e-18,-6.077771179351475e-18,1.1129452956316988e-14,1.822822816115579e-16,-3.359956682344352e-16,-5.526181323543158e-09],"joint_position_rad":[-1.9749197791743265,-1.562605702558604,1.4181787463964968,-1.4263877738377868,-1.5708317629142616,-0.4041085768900718],"joint_velocity_rad_s":[-0.007658284511957922,-0.02489849748264397,0.23961141815152284,-0.21038252972995627,2.232893599062087e-05,-0.007863243754986352],"linkage_position_rad":[0.002934086137628821,0.00015662839061122147,0.0031936965340817083,-0.0034300834735717894,0.0029339535568339227,0.00015601186225238032,0.0031948897724068345,-0.003439513176347529],"tcp_position_m":[0.07002896198423314,0.5045074754960848,0.38860633205612727],"tcp_quaternion_wxyz":[1.302167951371014e-05,0.7071120404210429,0.7071015216310808,1.5133902008761761e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-5.6127091595668015e-18,1.1090598394896581e-18,-1.1190280155793179e-07],"object_linear_velocity_m_s":[-3.1479790163005745e-18,-6.077771179351475e-18,1.1129452956316988e-14],"object_angular_velocity_rad_s":[1.8228220640158265e-16,-3.3599570909225694e-16,-5.526181323543166e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313543046192313,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.976461175437487,-1.57834935783692,1.4550866250654657,-1.4730330822205708,-1.570822032358349,-0.40566539518733746,0.0],"actuator_force":[-0.019478721537780075,-21.527911563574435,-22.028809922670916,-2.284401218396283,0.002632384357184492,0.007915226865776503,-0.2944564342531384],"issued_joint_targets_rad":[-1.97662750385607,-1.568158008069631,1.4702092245791547,-1.4725968528904485,-1.5708230232170763,-0.40582721276811096],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.900000000000973,"joint_targets_rad":[-1.97662750385607,-1.568158008069631,1.4702092245791547,-1.4725968528904485,-1.5708230232170763,-0.40582721276811096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.92000000000098,"qpos":[-1.9750817019833378,-1.5631381822635515,1.4231194647201728,-1.43077592704675,-1.5708309557786495,-0.4042725596936569,0.0029341090267153394,0.00015662782573902173,0.0031937302378657823,-0.0034301030581252064,0.00293397661191507,0.00015601365574587954,0.0031949307559568443,-0.0034395316203700427,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.8078352023812536e-17,-2.9183216255547184e-17,-1.1231894844354478e-07],"qvel":[-0.007660497274661137,-0.024075078764279452,0.2386681107727001,-0.21035703767535158,1.9023463031824228e-05,-0.007852319340531726,0.00011556037489339814,4.2456259735570205e-05,5.8840053934154925e-05,-0.00022778661541707397,9.502133477983917e-05,-9.463701017703497e-06,-0.0001961764313226463,-0.00026143019418485515,3.522819967521696e-17,-2.406787143542371e-17,1.0974021732869465e-14,-2.312901279826037e-16,-1.0161219474196838e-15,-2.221351488987987e-08],"joint_position_rad":[-1.9750817019833378,-1.5631381822635515,1.4231194647201728,-1.43077592704675,-1.5708309557786495,-0.4042725596936569],"joint_velocity_rad_s":[-0.007660497274661137,-0.024075078764279452,0.2386681107727001,-0.21035703767535158,1.9023463031824228e-05,-0.007852319340531726],"linkage_position_rad":[0.0029341090267153394,0.00015662782573902173,0.0031937302378657823,-0.0034301030581252064,0.00293397661191507,0.00015601365574587954,0.0031949307559568443,-0.0034395316203700427],"tcp_position_m":[0.07011577398928269,0.5045086250437874,0.38689553588892933],"tcp_quaternion_wxyz":[1.6385014508903166e-05,0.707111312017123,0.7071022501144534,5.659538998096059e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.8078352023812536e-17,-2.9183216255547184e-17,-1.1231894844354478e-07],"object_linear_velocity_m_s":[3.522819967521696e-17,-2.406787143542371e-17,1.0974021732869465e-14],"object_angular_velocity_rad_s":[-2.3129035494557194e-16,-1.0161218962662993e-15,-2.2213514889879904e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313542587846693,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9766229918288345,-1.5787146434771602,1.459833615957473,-1.4774160880280491,-1.5708218894511619,-0.4058272151032613,0.0],"actuator_force":[-0.018380781129053503,-21.522890921505677,-22.038941834479374,-2.2843767231144056,0.0026308174406040052,0.007904229250954131,-0.29445719047988667],"issued_joint_targets_rad":[-1.97678935134921,-1.5685108024273668,1.474942307099537,-1.476978129415447,-1.5708228807002826,-0.4059890656552181],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.92000000000098,"joint_targets_rad":[-1.97678935134921,-1.5685108024273668,1.474942307099537,-1.476978129415447,-1.5708228807002826,-0.4059890656552181],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.940000000000986,"qpos":[-1.9752436134536018,-1.563653533521456,1.4280406463526443,-1.43516344922003,-1.5708302120242994,-0.40443633818582814,0.002934127778829539,0.00015662725960634776,0.0031937597340375374,-0.0034301187580751537,0.0029339955366991612,0.00015601545623636587,0.0031949676825655535,-0.0034395461187888446,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.7096675452923815e-17,-3.374694595374578e-17,-1.1254943387034408e-07],"qvel":[-0.007662968630939775,-0.02324731004888887,0.2377238578087486,-0.2103259249941136,1.6048718844542156e-05,-0.007842593532315856,0.00011542786352360267,4.243336157176048e-05,5.9904610357197876e-05,-0.0002273852356798583,9.492827182929105e-05,-9.277870128962548e-06,-0.0001944658247220468,-0.00026106679351336863,9.694272299809328e-17,-3.7765929605057596e-17,1.0940715042130708e-14,-1.0732002894381383e-15,-4.7777205910164825e-15,-8.929135959776859e-08],"joint_position_rad":[-1.9752436134536018,-1.563653533521456,1.4280406463526443,-1.43516344922003,-1.5708302120242994,-0.40443633818582814],"joint_velocity_rad_s":[-0.007662968630939775,-0.02324731004888887,0.2377238578087486,-0.2103259249941136,1.6048718844542156e-05,-0.007842593532315856],"linkage_position_rad":[0.002934127778829539,0.00015662725960634776,0.0031937597340375374,-0.0034301187580751537,0.0029339955366991612,0.00015601545623636587,0.0031949676825655535,-0.0034395461187888446],"tcp_position_m":[0.07020262195040924,0.5045098115064429,0.3851846173504512],"tcp_quaternion_wxyz":[1.944429058967188e-05,0.7071106517891051,0.7071029102891812,-2.979234777003719e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.7096675452923815e-17,-3.374694595374578e-17,-1.1254943387034408e-07],"object_linear_velocity_m_s":[9.694272299809328e-17,-3.7765929605057596e-17,1.0940715042130708e-14],"object_angular_velocity_rad_s":[-1.0732013588709873e-15,-4.7777203524933706e-15,-8.929135959776872e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313542167489149,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9767848418463156,-1.5790621363907462,1.4645610705839214,-1.4817973549072172,-1.5708217445421264,-0.40598906801167944,0.0],"actuator_force":[-0.017269333051899594,-21.5182817190248,-22.04869466094533,-2.2843603441821188,0.0026288692021125826,0.00789444030596087,-0.29445794645319945],"issued_joint_targets_rad":[-1.9769512340301185,-1.568845635567433,1.4796557949334601,-1.481357768820017,-1.57082273633385,-0.4061509531234759],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.940000000000986,"joint_targets_rad":[-1.9769512340301185,-1.568845635567433,1.4796557949334601,-1.481357768820017,-1.57082273633385,-0.4061509531234759],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.960000000000993,"qpos":[-1.975405518572343,-1.5641516749595807,1.4329422839970472,-1.4395502424845377,-1.5708295254037745,-0.404599935257834,0.002934143142643098,0.00015662669279007893,0.0031937857665645065,-0.0034301312827053057,0.0029340110789514025,0.00015601726132400223,0.003195001273636571,-0.0034395573878567252,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.601692808933213e-17,-3.973240258543659e-17,-1.1288799961590518e-07],"qvel":[-0.007665678070653312,-0.022415679117343035,0.2367793087401972,-0.21029022753747645,1.3371340609079694e-05,-0.00783395872229433,0.00011532937679846604,4.241097410517531e-05,6.0994205671066846e-05,-0.0002270179026674875,9.486881390599508e-05,-9.093941028177852e-06,-0.00019273974878117607,-0.0002607390600632609,4.63352707100446e-17,-1.9577557583099438e-17,1.1015655096292904e-14,5.522443680038467e-16,1.4155686437639846e-15,-9.662881554752617e-09],"joint_position_rad":[-1.975405518572343,-1.5641516749595807,1.4329422839970472,-1.4395502424845377,-1.5708295254037745,-0.404599935257834],"joint_velocity_rad_s":[-0.007665678070653312,-0.022415679117343035,0.2367793087401972,-0.21029022753747645,1.3371340609079694e-05,-0.00783395872229433],"linkage_position_rad":[0.002934143142643098,0.00015662669279007893,0.0031937857665645065,-0.0034301312827053057,0.0029340110789514025,0.00015601726132400223,0.003195001273636571,-0.0034395573878567252],"tcp_position_m":[0.07028950784288754,0.5045110372614333,0.38347357637959756],"tcp_quaternion_wxyz":[2.2228971974149734e-05,0.7071100534211009,0.7071035085040024,-1.086324795988228e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.601692808933213e-17,-3.973240258543659e-17,-1.1288799961590518e-07],"object_linear_velocity_m_s":[4.63352707100446e-17,-1.9577557583099438e-17,1.1015655096292904e-14],"object_angular_velocity_rad_s":[5.522446883731175e-16,1.4155685187708874e-15,-9.662881554752632e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313541778514749,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9769467270039192,-1.579391852038182,1.4692691107256828,-1.4861769895641814,-1.570821597978915,-0.40615095549927704,0.0],"actuator_force":[-0.016145634891017835,-21.514082510265325,-22.058070038807273,-2.284350786074242,0.002626578368790433,0.007885751507899386,-0.2944587020332473],"issued_joint_targets_rad":[-1.9771131534395052,-1.5691625188888532,1.4843498059235851,-1.4857358766663584,-1.570822590445345,-0.40631287677036076],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.960000000000993,"joint_targets_rad":[-1.9771131534395052,-1.5691625188888532,1.4843498059235851,-1.4857358766663584,-1.570822590445345,-0.40631287677036076],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.980000000001,"qpos":[-1.9755674219350383,-1.564632534268395,1.4378243823641257,-1.443936228477922,-1.570828890299096,-0.40476337175979793,0.002934155731651161,0.0001566261258318437,0.0031938089451592974,-0.0034301412130957505,0.002934023851352531,0.00015601906891514632,0.0031950321187023643,-0.00343956601489967,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-5.101173836599795e-18,-9.162676665391699e-18,-1.1325244532860304e-07],"qvel":[-0.007668607480834318,-0.02158061606396575,0.2358350323545847,-0.21025087390218247,1.0961348134968159e-05,-0.00782631766752106,0.00011525876531248671,4.238908113461861e-05,6.210289148100696e-05,-0.00022667872116132002,9.48368252859327e-05,-8.911868316540408e-06,-0.0001910039020048777,-0.00026044109379997504,5.14295914822062e-18,-3.221803033680271e-18,1.0875489439433976e-14,1.1771692930180936e-15,2.9706327950972293e-15,-3.884175178638874e-08],"joint_position_rad":[-1.9755674219350383,-1.564632534268395,1.4378243823641257,-1.443936228477922,-1.570828890299096,-0.40476337175979793],"joint_velocity_rad_s":[-0.007668607480834318,-0.02158061606396575,0.2358350323545847,-0.21025087390218247,1.0961348134968159e-05,-0.00782631766752106],"linkage_position_rad":[0.002934155731651161,0.0001566261258318437,0.0031938089451592974,-0.0034301412130957505,0.002934023851352531,0.00015601906891514632,0.0031950321187023643,-0.00343956601489967],"tcp_position_m":[0.07037643365866508,0.504512304799516,0.38176241299253383],"tcp_quaternion_wxyz":[2.476568428412955e-05,0.7071095111773191,0.7071040505207626,-1.8065541261765463e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-5.101173836599795e-18,-9.162676665391699e-18,-1.1325244532860304e-07],"object_linear_velocity_m_s":[5.14295914822062e-18,-3.221803033680271e-18,1.0875489439433976e-14],"object_angular_velocity_rad_s":[1.1771699665927105e-15,2.970632528066279e-15,-3.8841751786388804e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313541415524285,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9771086488345444,-1.5797038035115365,1.473957854108099,-1.490555097029062,-1.5708214500700053,-0.4063128791637283,0.0],"actuator_force":[-0.015010806678674271,-21.51029206069643,-22.067069453887143,-2.284346885351738,0.0026239797318794444,0.007878064786893901,-0.2944594571031767],"issued_joint_targets_rad":[-1.977275111144733,-1.5694614616081917,1.489024453949719,-1.4901125568493439,-1.5708224433254376,-0.40647483821409164],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.980000000001,"joint_targets_rad":[-1.977275111144733,-1.5694614616081917,1.489024453949719,-1.4901125568493439,-1.5708224433254376,-0.40647483821409164],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.000000000001005,"qpos":[-1.9757293277913344,-1.5650960471080828,1.442686956646548,-1.4483213463189188,-1.5708283016579223,-0.40492666669830857,0.0029341660485743513,0.00015662555923570673,0.003193829769532344,-0.0034301490252720284,0.0029340343558916138,0.0001560208771849927,0.0031950606994382165,-0.003439572481533271,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-9.331193179460291e-19,5.879160910571684e-18,-1.1339972146720924e-07],"qvel":[-0.007671740927860283,-0.020742498908460028,0.23489152481852354,-0.21020869601590889,8.79179960459752e-06,-0.007819582541295984,0.00011521098936048571,4.236766702369981e-05,6.322582056577035e-05,-0.00022636285116869753,9.482727925422384e-05,-8.731608567733104e-06,-0.0001892628964321589,-0.000260168052195907,-2.6051568765384644e-19,-2.542538673319638e-18,1.0850509421379906e-14,1.4334981570682247e-17,8.852955093282672e-16,-4.2033545975970885e-09],"joint_position_rad":[-1.9757293277913344,-1.5650960471080828,1.442686956646548,-1.4483213463189188,-1.5708283016579223,-0.40492666669830857],"joint_velocity_rad_s":[-0.007671740927860283,-0.020742498908460028,0.23489152481852354,-0.21020869601590889,8.79179960459752e-06,-0.007819582541295984],"linkage_position_rad":[0.0029341660485743513,0.00015662555923570673,0.003193829769532344,-0.0034301490252720284,0.0029340343558916138,0.0001560208771849927,0.0031950606994382165,-0.003439572481533271],"tcp_position_m":[0.07046340141875818,0.5045136167377321,0.3800511272745021],"tcp_quaternion_wxyz":[2.7078488075374195e-05,0.7071090198490388,0.7071045415687554,-2.4652118565749643e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-9.331193179460291e-19,5.879160910571684e-18,-1.1339972146720924e-07],"object_linear_velocity_m_s":[-2.6051568765384644e-19,-2.542538673319638e-18,1.0850509421379906e-14],"object_angular_velocity_rad_s":[1.433518230578585e-17,8.852955060692357e-16,-4.203354597597096e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313541074104642,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9772706088988914,-1.5799980015558563,1.4786274144843352,-1.494931780717223,-1.5708213010889063,-0.40647484062343064,0.0],"actuator_force":[-0.013865843970052083,-21.506909332163104,-22.075694251834648,-2.2843475975612364,0.0026211045476429717,0.00787129156856281,-0.29446021156637175],"issued_joint_targets_rad":[-1.9774371087489488,-1.5697424707528154,1.493679848994828,-1.4944879116575094,-1.5708222952318467,-0.4066368391033837],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.000000000001005,"joint_targets_rad":[-1.9774371087489488,-1.5697424707528154,1.493679848994828,-1.4944879116575094,-1.5708222952318467,-0.4066368391033837],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.020000000000994,"qpos":[-1.9758912400868212,-1.5655421561208587,1.4475300311453625,-1.4527055507780289,-1.5708277549362262,-0.40508983741600696,0.0029341745053566275,0.0001566249934676919,0.0031938486492642717,-0.0034301551091929314,0.0029340430038555785,0.00015602268454524703,0.0031950874093194265,-0.003439577182712358,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-2.1010454374858695e-17,4.207710442257407e-17,-1.1386293547172212e-07],"qvel":[-0.007675064464259697,-0.019901658627923015,0.23394921691218817,-0.2101644386814667,6.838482588841888e-06,-0.007813674075359909,0.00011518191869238923,4.234671664335442e-05,6.43590484417324e-05,-0.00022606631688262897,9.483605796143837e-05,-8.553120073703816e-06,-0.00018752045492703806,-0.0002599159600845851,-4.8945882273697495e-17,-2.472498242039482e-17,1.0850509421379906e-14,-1.6717462189542133e-16,1.7171217719746766e-16,-1.6896166534271198e-08],"joint_position_rad":[-1.9758912400868212,-1.5655421561208587,1.4475300311453625,-1.4527055507780289,-1.5708277549362262,-0.40508983741600696],"joint_velocity_rad_s":[-0.007675064464259697,-0.019901658627923015,0.23394921691218817,-0.2101644386814667,6.838482588841888e-06,-0.007813674075359909],"linkage_position_rad":[0.0029341745053566275,0.0001566249934676919,0.0031938486492642717,-0.0034301551091929314,0.0029340430038555785,0.00015602268454524703,0.0031950874093194265,-0.003439577182712358],"tcp_position_m":[0.07055041318547878,0.5045149758328203,0.37833971937249855],"tcp_quaternion_wxyz":[2.9189126027160903e-05,0.7071085747063711,0.7071049863940256,-3.068262560887057e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-2.1010454374858695e-17,4.207710442257407e-17,-1.1386293547172212e-07],"object_linear_velocity_m_s":[-4.8945882273697495e-17,-2.472498242039482e-17,1.0850509421379906e-14],"object_angular_velocity_rad_s":[-1.671745842139958e-16,1.717122145574578e-16,-1.6896166534271227e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313540750649123,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.977432608794471,-1.5802744545813459,1.4832779017038742,-1.499307142485138,-1.5708211512779096,-0.4066368415272603,0.0],"actuator_force":[-0.012711629595742124,-21.50393346980536,-22.08394564785158,-2.2843519854078522,0.0026179808994584164,0.007865351909288165,-0.29446096534387944],"issued_joint_targets_rad":[-1.9775991479004151,-1.5700055511465179,1.4983160971968281,-1.4988620418286835,-1.5708221463928391,-0.4067988811273241],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.020000000000994,"joint_targets_rad":[-1.9775991479004151,-1.5700055511465179,1.4983160971968281,-1.4988620418286835,-1.5708221463928391,-0.4067988811273241],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.040000000000983,"qpos":[-1.9760531625011586,-1.5659708100380711,1.452353638032707,-1.457088810628821,-1.570827246046786,-0.40525289975490425,0.002934181439553802,0.00015662442895551614,0.003193865920086391,-0.003430159784290322,0.00293405013221024,0.00015602448961569808,0.003195112569711668,-0.0034395804423293236,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.884014558629955e-17,4.4490795748274013e-17,-1.1413592656692927e-07],"qvel":[-0.007678565957906333,-0.019058383663573715,0.23300848050758238,-0.21011876818207767,5.079636651680963e-06,-0.007808520784874167,0.00011516816835219162,4.232621528342391e-05,6.54993701962025e-05,-0.00022578585100634262,9.48597883609354e-05,-8.376362629545631e-06,-0.00018577957269253284,-0.00025968155306697866,-8.587818322939851e-17,-3.7060995015209637e-17,1.0858836094064598e-14,-1.1744566202091753e-16,2.2468146012740363e-15,-6.791728771039927e-08],"joint_position_rad":[-1.9760531625011586,-1.5659708100380711,1.452353638032707,-1.457088810628821,-1.570827246046786,-0.40525289975490425],"joint_velocity_rad_s":[-0.007678565957906333,-0.019058383663573715,0.23300848050758238,-0.21011876818207767,5.079636651680963e-06,-0.007808520784874167],"linkage_position_rad":[0.002934181439553802,0.00015662442895551614,0.003193865920086391,-0.003430159784290322,0.00293405013221024,0.00015602448961569808,0.003195112569711668,-0.0034395804423293236],"tcp_position_m":[0.07063747107463486,0.5045163849952918,0.3766281894887431],"tcp_quaternion_wxyz":[3.111724631464682e-05,0.707108171454391,0.7071053893041055,-3.6210963221349646e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.884014558629955e-17,4.4490795748274013e-17,-1.1413592656692927e-07],"object_linear_velocity_m_s":[-8.587818322939851e-17,-3.7060995015209637e-17,1.0858836094064598e-14],"object_angular_velocity_rad_s":[-1.1744515517977068e-16,2.2468146255243786e-15,-6.791728771039941e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313540442210361,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.977594650164827,-1.5805331686661457,1.4879094217665019,-1.5036812826813908,-1.5708210008514134,-0.40679888356444965,0.0],"actuator_force":[-0.01154894417459218,-21.50136379071955,-22.091824735442515,-2.2843592080771487,0.0026146340211425922,0.007860173714703933,-0.29446171837176777],"issued_joint_targets_rad":[-1.9777612303021592,-1.5702507053870018,1.5029333008862273,-1.5032350466007085,-1.5708219970103467,-0.4069609660255014],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.040000000000983,"joint_targets_rad":[-1.9777612303021592,-1.5702507053870018,1.5029333008862273,-1.5032350466007085,-1.5708219970103467,-0.4069609660255014],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.060000000000972,"qpos":[-1.9762150984829616,-1.5663819628720876,1.4571578162364194,-1.4614711071620698,-1.5708267713129127,-0.4054158682050158,0.002934187127763997,0.00015662386608950743,0.003193881857222356,-0.0034301633122203533,0.0029340560170239885,0.00015602629119940451,0.003195136443038717,-0.0034395825260131255,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.2801757158971299e-17,3.838180295902109e-17,-1.143934483165559e-07],"qvel":[-0.007682234941781474,-0.018212923950904777,0.23206963436305583,-0.2100722800398151,3.495704279363249e-06,-0.007804058268852993,0.00011516696417875558,4.230614868951528e-05,6.664418751675713e-05,-0.00022551876625243392,9.48957077916174e-05,-8.201297335737218e-06,-0.00018404264935674831,-0.0002594621504476212,-4.6064236604526557e-17,-1.8090474760079415e-17,1.0807488279175687e-14,7.698569128210993e-16,-1.6112266209704101e-15,-7.349834403036584e-09],"joint_position_rad":[-1.9762150984829616,-1.5663819628720876,1.4571578162364194,-1.4614711071620698,-1.5708267713129127,-0.4054158682050158],"joint_velocity_rad_s":[-0.007682234941781474,-0.018212923950904777,0.23206963436305583,-0.2100722800398151,3.495704279363249e-06,-0.007804058268852993],"linkage_position_rad":[0.002934187127763997,0.00015662386608950743,0.003193881857222356,-0.0034301633122203533,0.0029340560170239885,0.00015602629119940451,0.003195136443038717,-0.0034395825260131255],"tcp_position_m":[0.07072457726782241,0.5045178473043145,0.3749165378748581],"tcp_quaternion_wxyz":[3.2880604472946066e-05,0.7071078061932377,0.707105754208613,-4.128584144817442e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.2801757158971299e-17,3.838180295902109e-17,-1.143934483165559e-07],"object_linear_velocity_m_s":[-4.6064236604526557e-17,-1.8090474760079415e-17,1.0807488279175687e-14],"object_angular_velocity_rad_s":[7.698565436293425e-16,-1.6112267972917267e-15,-7.349834403036599e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313540146379928,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9777567347090885,-1.5807741475493913,1.4925220768618843,-1.5080543001932145,-1.5708208499988827,-0.40696096847471835,0.0],"actuator_force":[-0.010378475541074295,-21.499199774245426,-22.099332494292867,-2.2843685115908556,0.0026110865870805355,0.007855692034013373,-0.2944624705992511],"issued_joint_targets_rad":[-1.977923357722045,-1.570477933814606,1.507531558609529,-1.507607023757671,-1.5708218472627369,-0.4071230955985077],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.060000000000972,"joint_targets_rad":[-1.977923357722045,-1.570477933814606,1.507531558609529,-1.507607023757671,-1.5708218472627369,-0.4071230955985077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.080000000000961,"qpos":[-1.9763770512818566,-1.5667755731838866,1.4619426104335635,-1.4658524328467066,-1.5708263274268646,-0.4055787560397523,0.002934191796634189,0.0001566233052238924,0.0031938966863212237,-0.0034301659073043738,0.002934060884468251,0.00015602808826125503,0.003195159243559274,-0.0034395836516155974,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.8871503504819944e-17,3.3697365738969204e-17,-1.1481776185697806e-07],"qvel":[-0.007686062482594647,-0.017365494516722913,0.2311329492988853,-0.2100255060102657,2.0691072077368134e-06,-0.007800228579360543,0.00011517603251919342,4.228650296131704e-05,6.779139945734421e-05,-0.000225262850058871,9.494155377744371e-05,-8.027886413694002e-06,-0.0001823115969829949,-0.0002592555491513836,-4.851465908823676e-17,-2.6131113912599284e-17,1.0758916021848338e-14,-2.824700942085389e-16,-9.754224444293786e-16,-2.9544028035141592e-08],"joint_position_rad":[-1.9763770512818566,-1.5667755731838866,1.4619426104335635,-1.4658524328467066,-1.5708263274268646,-0.4055787560397523],"joint_velocity_rad_s":[-0.007686062482594647,-0.017365494516722913,0.2311329492988853,-0.2100255060102657,2.0691072077368134e-06,-0.007800228579360543],"linkage_position_rad":[0.002934191796634189,0.0001566233052238924,0.0031938966863212237,-0.0034301659073043738,0.002934060884468251,0.00015602808826125503,0.003195159243559274,-0.0034395836516155974],"tcp_position_m":[0.07081173402495723,0.5045193660235819,0.3732047648267023],"tcp_quaternion_wxyz":[3.449524581402188e-05,0.7071074753818387,0.7071060846560997,-4.59512802471023e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.8871503504819944e-17,3.3697365738969204e-17,-1.1481776185697806e-07],"object_linear_velocity_m_s":[-4.851465908823676e-17,-2.6131113912599284e-17,1.0758916021848338e-14],"object_angular_velocity_rad_s":[-2.8247032019128785e-16,-9.75422380679267e-16,-2.9544028035141652e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313539861189866,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9779188641919547,-1.5809973926141032,1.4971159653946795,-1.5124262924889498,-1.570820698887478,-0.4071230980587767,0.0],"actuator_force":[-0.00920082715811077,-21.497441053744296,-22.106469797322006,-2.2843792200949338,0.0026073589724546764,0.007851848423825913,-0.29446322198660513],"issued_joint_targets_rad":[-1.978085532003409,-1.5706872344714822,1.5121109651380558,-1.5119780696719973,-1.570821697307278,-0.4072852717189469],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.080000000000961,"joint_targets_rad":[-1.978085532003409,-1.5706872344714822,1.5121109651380558,-1.5119780696719973,-1.570821697307278,-0.4072852717189469],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.10000000000095,"qpos":[-1.9765390239780602,-1.5671516034180744,1.4667080701410833,-1.4702327901231045,-1.5708259114124876,-0.405741575439387,0.0029341956318799448,0.0001566227466781777,0.0031939105924121344,-0.003430167745083264,0.002934064919831721,0.00015602987990896326,0.003195181146183412,-0.003439583997808871,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999944,-1.3785931224637272e-17,1.95948332924351e-17,-1.1492978384794845e-07],"qvel":[-0.0076900410669247295,-0.01651627868143696,0.2301986528113498,-0.20997892038824575,7.84045577042439e-07,-0.007796979653497312,0.00011519350980559042,4.2267264486287405e-05,6.89393130700211e-05,-0.00022501627880515813,9.499547368693475e-05,-7.856093107745323e-06,-0.00018058792873220907,-0.0002590599384509766,-2.666647493009034e-17,-1.6158615705273712e-17,1.0810263836737249e-14,5.086892755298753e-16,-1.4295015280467242e-15,-3.1971788181953504e-09],"joint_position_rad":[-1.9765390239780602,-1.5671516034180744,1.4667080701410833,-1.4702327901231045,-1.5708259114124876,-0.405741575439387],"joint_velocity_rad_s":[-0.0076900410669247295,-0.01651627868143696,0.2301986528113498,-0.20997892038824575,7.84045577042439e-07,-0.007796979653497312],"linkage_position_rad":[0.0029341956318799448,0.0001566227466781777,0.0031939105924121344,-0.003430167745083264,0.002934064919831721,0.00015602987990896326,0.003195181146183412,-0.003439583997808871],"tcp_position_m":[0.07089894369718076,0.5045209446183504,0.37149287067979225],"tcp_quaternion_wxyz":[3.597567028151131e-05,0.7071071758049231,0.7071063838674975,-5.024706192739054e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999944,-1.3785931224637272e-17,1.95948332924351e-17,-1.1492978384794845e-07],"object_linear_velocity_m_s":[-2.666647493009034e-17,-1.6158615705273712e-17,1.0810263836737249e-14],"object_angular_velocity_rad_s":[5.086889468199634e-16,-1.4295016450619386e-15,-3.1971788181953566e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313539585032081,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9780810404542535,-1.581202902859272,1.5016911819948608,-1.5167973556567282,-1.5708205476643957,-0.4072852741893354,0.0],"actuator_force":[-0.008016525616767467,-21.496087409820575,-22.113237416984703,-2.2843907279873292,0.0026034694882355325,0.007848590375516551,-0.2944639725030459],"issued_joint_targets_rad":[-1.9782477550763966,-1.570878603050253,1.5166716114616061,-1.5163482793427039,-1.5708215472823388,-0.40744749634310434],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.10000000000095,"joint_targets_rad":[-1.9782477550763966,-1.570878603050253,1.5166716114616061,-1.5163482793427039,-1.5708215472823388,-0.40744749634310434],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.120000000000939,"qpos":[-1.9767010195098291,-1.5675100192977678,1.471454248892886,-1.474612190315659,-1.570825520591633,-0.4059043376038032,0.0029341987856771664,0.0001566221907391327,0.003193923727242085,-0.0034301689693342226,0.0029340682749071233,0.00015603166537632996,0.0031952022936842708,-0.003439583711135716,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,2.2547081438939e-17,3.915829475935958e-17,-1.1538007710087027e-07],"qvel":[-0.007694164503688794,-0.015665430900457897,0.22926693317616118,-0.20993294569195786,-3.736824916369804e-07,-0.0077942648028657266,0.00011521786850201926,4.224841990043703e-05,7.008657034334716e-05,-0.00022477754657517114,9.505595075598203e-05,-7.685881435776601e-06,-0.00017887283069450912,-0.0002588738293147188,-4.8227538722330225e-17,2.2287022024542357e-17,1.1587419953974859e-14,5.855009702418155e-16,-8.532416045477333e-16,-1.2851655623571422e-08],"joint_position_rad":[-1.9767010195098291,-1.5675100192977678,1.471454248892886,-1.474612190315659,-1.570825520591633,-0.4059043376038032],"joint_velocity_rad_s":[-0.007694164503688794,-0.015665430900457897,0.22926693317616118,-0.20993294569195786,-3.736824916369804e-07,-0.0077942648028657266],"linkage_position_rad":[0.0029341987856771664,0.0001566221907391327,0.003193923727242085,-0.0034301689693342226,0.0029340682749071233,0.00015603166537632996,0.0031952022936842708,-0.003439583711135716],"tcp_position_m":[0.07098620874029893,0.5045225867738579,0.3697808558052702],"tcp_quaternion_wxyz":[3.733498142855658e-05,0.707106904543029,0.7071066547664805,-5.420913998247566e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,2.2547081438939e-17,3.915829475935958e-17,-1.1538007710087027e-07],"object_linear_velocity_m_s":[-4.8227538722330225e-17,2.2287022024542357e-17,1.1587419953974859e-14],"object_angular_velocity_rad_s":[5.855007723411379e-16,-8.5324173907847e-16,-1.2851655623571422e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313539316592433,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9782432654242084,-1.5813906748603082,1.506247817512693,-1.5211675844396455,-1.570820396458952,-0.407447498822776,0.0],"actuator_force":[-0.006826027282841096,-21.495138764897547,-22.119636030850415,-2.284402492797426,0.0025994345896833693,0.007845870800167631,-0.29446472212550445],"issued_joint_targets_rad":[-1.9784100289701763,-1.5710520328309718,1.5212135847661048,-1.5207177464300692,-1.5708213973093437,-0.4076097715234566],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.120000000000939,"joint_targets_rad":[-1.9784100289701763,-1.5710520328309718,1.5212135847661048,-1.5207177464300692,-1.5708213973093437,-0.4076097715234566],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.140000000000928,"qpos":[-1.9768630406990846,-1.5678507892724127,1.4761812034935817,-1.4789906526528753,-1.570825152553979,-0.40606705285562966,0.002934201382719708,0.00015662163766272974,0.0031939362152902523,-0.003430169697818626,0.002934071074044341,0.0001560334440089207,0.003195222802598552,-0.00343958291178713,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,1.769230893423617e-17,4.120013059492298e-17,-1.1573525392241622e-07],"qvel":[-0.0076984278420432735,-0.014813079274220072,0.22833794308604363,-0.2098879577864236,-1.4168429357569092e-06,-0.007792042255832017,0.00011524785634422748,4.2229956070085715e-05,7.123208875111178e-05,-0.00022454540651809882,9.512174340668231e-05,-7.517216098386798e-06,-0.00017716722090988307,-0.0002586959959034424,-7.097742127149434e-17,2.6271122094806762e-17,1.1697054477656591e-14,-1.1153286927187063e-15,9.36734598956661e-16,-5.165962295475386e-08],"joint_position_rad":[-1.9768630406990846,-1.5678507892724127,1.4761812034935817,-1.4789906526528753,-1.570825152553979,-0.40606705285562966],"joint_velocity_rad_s":[-0.0076984278420432735,-0.014813079274220072,0.22833794308604363,-0.2098879577864236,-1.4168429357569092e-06,-0.007792042255832017],"linkage_position_rad":[0.002934201382719708,0.00015662163766272974,0.0031939362152902523,-0.003430169697818626,0.002934071074044341,0.0001560334440089207,0.003195222802598552,-0.00343958291178713],"tcp_position_m":[0.07107353172891233,0.5045242964153588,0.36806872060637097],"tcp_quaternion_wxyz":[3.858502105045503e-05,0.707106658945237,0.7071069000070367,-5.7870008528387415e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,1.769230893423617e-17,4.120013059492298e-17,-1.1573525392241622e-07],"object_linear_velocity_m_s":[-7.097742127149434e-17,2.6271122094806762e-17,1.1697054477656591e-14],"object_angular_velocity_rad_s":[-1.1153284801490095e-15,9.367348589502914e-16,-5.165962295475386e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313539054796853,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9784055411295922,-1.5815607027168057,1.5107859589975368,-1.5255370722676516,-1.5708202453844367,-0.4076097740116618,0.0],"actuator_force":[-0.005629724197660835,-21.494595179097814,-22.125666226507747,-2.2844140287458004,0.0025952690647272902,0.007843647567113976,-0.294465470836957],"issued_joint_targets_rad":[-1.9785723558262138,-1.57120751460495,1.525736968394092,-1.525086563286941,-1.5708212474945182,-0.40777209942219955],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.140000000000928,"joint_targets_rad":[-1.9785723558262138,-1.57120751460495,1.525736968394092,-1.525086563286941,-1.5708212474945182,-0.40777209942219955],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.160000000000917,"qpos":[-1.9770250902755282,-1.5681738840121289,1.4808889933399572,-1.48336820338435,-1.5708248051299067,-0.4062297307347825,0.002934203525183373,0.0001566210876757707,0.0031939481586895657,-0.0034301700269866167,0.002934073419110356,0.00015603521525097992,0.003195242768049671,-0.0034395816983414196,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,9.473205918724467e-18,3.2947785595835636e-17,-1.1593113153968927e-07],"qvel":[-0.007702827303999497,-0.013959327752346517,0.22741180286153279,-0.20984429050088924,-2.3569113267376857e-06,-0.007790274748332727,0.00011528244650869497,4.221185994731817e-05,7.237501196891129e-05,-0.00022431882442972107,9.519183549721189e-05,-7.350062336370506e-06,-0.00017547179759352756,-0.0002585254291136703,-3.9943054725213345e-17,1.45882550495266e-17,1.175117785010707e-14,-5.808428843518357e-16,-1.3496463874615316e-15,-5.590471687559405e-09],"joint_position_rad":[-1.9770250902755282,-1.5681738840121289,1.4808889933399572,-1.48336820338435,-1.5708248051299067,-0.4062297307347825],"joint_velocity_rad_s":[-0.007702827303999497,-0.013959327752346517,0.22741180286153279,-0.20984429050088924,-2.3569113267376857e-06,-0.007790274748332727],"linkage_position_rad":[0.002934203525183373,0.0001566210876757707,0.0031939481586895657,-0.0034301700269866167,0.002934073419110356,0.00015603521525097992,0.003195242768049671,-0.0034395816983414196],"tcp_position_m":[0.07116091537143032,0.5045260777300496,0.36635646551534495],"tcp_quaternion_wxyz":[3.97364908607623e-05,0.707106436604377,0.7071071219984996,-6.125903615020097e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,9.473205918724467e-18,3.2947785595835636e-17,-1.1593113153968927e-07],"object_linear_velocity_m_s":[-3.9943054725213345e-17,1.45882550495266e-17,1.175117785010707e-14],"object_angular_velocity_rad_s":[-5.808431976522731e-16,-1.3496462526800305e-15,-5.590471687559407e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313538798767253,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9785678697109468,-1.58171297798631,1.5153056896593482,-1.5299059112863478,-1.5708200945397681,-0.40777210191826707,0.0],"actuator_force":[-0.004427949237651774,-21.494456847423407,-22.13132850583088,-2.2844249009100395,0.002590986201994383,0.007841883091003865,-0.29446621862471595],"issued_joint_targets_rad":[-1.978734737912831,-1.5713450365836927,1.530241841786515,-1.52945482098683,-1.570821097930442,-0.40793448232604435],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.160000000000917,"joint_targets_rad":[-1.978734737912831,-1.5713450365836927,1.530241841786515,-1.52945482098683,-1.570821097930442,-0.40793448232604435],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.180000000000906,"qpos":[-1.9771871708995237,-1.5684792759426587,1.4855776798019444,-1.4877448749850362,-1.5708244763661163,-0.4063923800853569,0.0029342052967941514,0.00015662054097820773,0.0031939596412641808,-0.003430170035841693,0.002934075393553771,0.0001560369786342778,0.003195262267691826,-0.0034395801516469223,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,3.1640058857138665e-18,2.1083824480162542e-17,-1.1635211978558235e-07],"qvel":[-0.007707360231282942,-0.013104258053395674,0.22648860326857076,-0.20980223978949739,-3.204203645525727e-06,-0.007788929159731053,0.00011532079676571947,4.2194118515618736e-05,7.351467060360868e-05,-0.00022409693816796865,9.526539555595158e-05,-7.184385816499238e-06,-0.0001737870781799017,-0.0002583612972192185,-2.7009421323717868e-17,5.7782754366240365e-18,1.179003565596895e-14,-5.338898011097622e-16,-1.0630241839636463e-15,-2.2471941979897922e-08],"joint_position_rad":[-1.9771871708995237,-1.5684792759426587,1.4855776798019444,-1.4877448749850362,-1.5708244763661163,-0.4063923800853569],"joint_velocity_rad_s":[-0.007707360231282942,-0.013104258053395674,0.22648860326857076,-0.20980223978949739,-3.204203645525727e-06,-0.007788929159731053],"linkage_position_rad":[0.0029342052967941514,0.00015662054097820773,0.0031939596412641808,-0.003430170035841693,0.002934075393553771,0.0001560369786342778,0.003195262267691826,-0.0034395801516469223],"tcp_position_m":[0.07124836252616303,0.5045279351911872,0.3646440909908164],"tcp_quaternion_wxyz":[4.079906245333106e-05,0.7071062353344836,0.7071073229282901,-6.440276759562036e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,3.1640058857138665e-18,2.1083824480162542e-17,-1.1635211978558235e-07],"object_linear_velocity_m_s":[-2.7009421323717868e-17,5.7782754366240365e-18,1.179003565596895e-14],"object_angular_velocity_rad_s":[-5.338900494275713e-16,-1.0630240595829948e-15,-2.247194197989793e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313538547785508,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9787302534360929,-1.5818474896024377,1.51980708881135,-1.5342741923828112,-1.570819944010962,-0.40793448482937367,0.0],"actuator_force":[-0.0032209806254286377,-21.49472409819964,-22.136623288617102,-2.2844347199377353,0.00258659794178584,0.007840543964704239,-0.2944669654790045],"issued_joint_targets_rad":[-1.9788971776413142,-1.5714645842908492,1.534728280403907,-1.5338226093489284,-1.5708209486974303,-0.4080969226625132],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.180000000000906,"joint_targets_rad":[-1.9788971776413142,-1.5714645842908492,1.534728280403907,-1.5338226093489284,-1.5708209486974303,-0.4080969226625132],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.200000000000895,"qpos":[-1.9773492857782546,-1.5687669370845736,1.4902472632857295,-1.4921207055802779,-1.5708241645291545,-0.4065550091353882,0.0029342067448905906,0.0001566199060229349,0.003193971272047524,-0.0034301691623599257,0.0029340770720215747,0.00015603870311293438,0.0031952819765150727,-0.003439577947062971,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-9.493664903846341e-18,9.223984435787915e-18,-1.165852866285571e-07],"qvel":[-0.007711984345752096,-0.012248320076812574,0.22556852614153905,-0.20976218512937164,-3.9768538683272045e-06,-0.007787976135383623,0.00011534618093207845,4.217705858468615e-05,7.459698330786e-05,-0.00022384720636315546,9.532306084816438e-05,-7.03095189175246e-06,-0.00017220991780304273,-0.0002581814301626013,6.7963791419559765e-18,-7.377907899449466e-17,1.1791423434749733e-14,-6.407711646510824e-15,-2.324222998364895e-15,-9.033015540918377e-08],"joint_position_rad":[-1.9773492857782546,-1.5687669370845736,1.4902472632857295,-1.4921207055802779,-1.5708241645291545,-0.4065550091353882],"joint_velocity_rad_s":[-0.007711984345752096,-0.012248320076812574,0.22556852614153905,-0.20976218512937164,-3.9768538683272045e-06,-0.007787976135383623],"linkage_position_rad":[0.0029342067448905906,0.0001566199060229349,0.003193971272047524,-0.0034301691623599257,0.0029340770720215747,0.00015603870311293438,0.0031952819765150727,-0.003439577947062971],"tcp_position_m":[0.07133588222675491,0.504529886784239,0.36293162728696987],"tcp_quaternion_wxyz":[4.177024863546858e-05,0.7071060533624838,0.7071075045737367,-6.72969560833915e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-9.493664903846341e-18,9.223984435787915e-18,-1.165852866285571e-07],"object_linear_velocity_m_s":[6.7963791419559765e-18,-7.377907899449466e-17,1.1791423434749733e-14],"object_angular_velocity_rad_s":[-6.407712190117469e-15,-2.324221505990163e-15,-9.03301554091838e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931353828855769,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9788926947279821,-1.5819642237665892,1.5242902317854083,-1.538642005428624,-1.5708197938718507,-0.4080969251724849,0.0],"actuator_force":[-0.002024161154167814,-21.49524533330623,-22.14147345725769,-2.2844314112359143,0.0025830140388052314,0.007839594990002752,-0.2944675370545095],"issued_joint_targets_rad":[-1.9790596771476547,-1.5715661147908115,1.539196254581065,-1.5381899418811547,-1.5708207997355645,-0.4082594225820661],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.200000000000895,"joint_targets_rad":[-1.9790596771476547,-1.5715661147908115,1.539196254581065,-1.5381899418811547,-1.5708207997355645,-0.4082594225820661],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.220000000000883,"qpos":[-1.9775114370150122,-1.5690368416306288,1.494897782125357,-1.4964957321448127,-1.5708238680147357,-0.4067176255321383,0.002934207869123999,0.00015661923217213225,0.0031939827374569017,-0.003430167720074453,0.0029340784324805415,0.0001560403900972227,0.003195301487065684,-0.0034395752497459026,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-2.7567141070023015e-17,-1.0481422302784471e-18,-1.1692779117267567e-07],"qvel":[-0.007716717745892047,-0.0113912067809811,0.2246513436680497,-0.20972393825358646,-4.675796621815857e-06,-0.0077873879570110275,0.00011536814037301682,4.2162108552247175e-05,7.565053494377218e-05,-0.0002236033097021459,9.537638312681435e-05,-6.88016922140477e-06,-0.0001706772278144444,-0.00025800849642083776,-4.37276661574955e-19,-2.9273198235839514e-17,1.1889955728185218e-14,3.149387340888406e-16,-3.633353024117814e-16,-9.775297368897581e-09],"joint_position_rad":[-1.9775114370150122,-1.5690368416306288,1.494897782125357,-1.4964957321448127,-1.5708238680147357,-0.4067176255321383],"joint_velocity_rad_s":[-0.007716717745892047,-0.0113912067809811,0.2246513436680497,-0.20972393825358646,-4.675796621815857e-06,-0.0077873879570110275],"linkage_position_rad":[0.002934207869123999,0.00015661923217213225,0.0031939827374569017,-0.003430167720074453,0.0029340784324805415,0.0001560403900972227,0.003195301487065684,-0.0034395752497459026],"tcp_position_m":[0.07142347928203772,0.5045319419410782,0.3612190865400904],"tcp_quaternion_wxyz":[4.265444701914469e-05,0.7071058887290236,0.7071076688961211,-6.995447507294504e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-2.7567141070023015e-17,-1.0481422302784471e-18,-1.1692779117267567e-07],"object_linear_velocity_m_s":[-4.37276661574955e-19,-2.9273198235839514e-17,1.1889955728185218e-14],"object_angular_velocity_rad_s":[3.149386491413351e-16,-3.633353766009067e-16,-9.775297368897586e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931353802848142,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9790551957198617,-1.5820631382363366,1.5287550887911796,-1.543009363839391,-1.5708196440576205,-0.4082594250980958,0.0],"actuator_force":[-0.0008303113418151042,-21.496110499022507,-22.14592413557466,-2.2844220219304816,0.002579558219849787,0.007839012722342886,-0.29446803769772617],"issued_joint_targets_rad":[-1.9792222384022997,-1.5716496015900194,1.5436457958008418,-1.5425568766014823,-1.5708206510641733,-0.4084219840690871],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.220000000000883,"joint_targets_rad":[-1.9792222384022997,-1.5716496015900194,1.5436457958008418,-1.5425568766014823,-1.5708206510641733,-0.4084219840690871],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.240000000000872,"qpos":[-1.9776736268372739,-1.5692889629065323,1.4995292961033757,-1.500869992874628,-1.57082358536913,-0.4068802363808449,0.0029342087063836705,0.00015661855871329218,0.0031939938463534873,-0.003430166011937131,0.002934079504148712,0.00015604206163518936,0.0031953206065062196,-0.0034395722761122053,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-3.120227376606397e-17,-1.4421826255031163e-17,-1.1729647676571154e-07],"qvel":[-0.00772157700680893,-0.010532766563409311,0.22373699066167999,-0.2096875538484876,-5.3059268863754954e-06,-0.007787138774020763,0.00011539264352360942,4.214803327379114e-05,7.66979827429423e-05,-0.00022336767372699073,9.543216865537167e-05,-6.729640661544777e-06,-0.00016915440738358683,-0.0002578445505563458,2.535734946214534e-17,-4.38223584167293e-17,1.1985712464059136e-14,-2.9873233852582816e-16,-1.247290984514415e-15,-3.929362808499096e-08],"joint_position_rad":[-1.9776736268372739,-1.5692889629065323,1.4995292961033757,-1.500869992874628,-1.57082358536913,-0.4068802363808449],"joint_velocity_rad_s":[-0.00772157700680893,-0.010532766563409311,0.22373699066167999,-0.2096875538484876,-5.3059268863754954e-06,-0.007787138774020763],"linkage_position_rad":[0.0029342087063836705,0.00015661855871329218,0.0031939938463534873,-0.003430166011937131,0.002934079504148712,0.00015604206163518936,0.0031953206065062196,-0.0034395722761122053],"tcp_position_m":[0.07151115673914475,0.5045341057360779,0.359506469579288],"tcp_quaternion_wxyz":[4.346001441502586e-05,0.7071057397093303,0.7071078176203969,-7.239797357155846e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-3.120227376606397e-17,-1.4421826255031163e-17,-1.1729647676571154e-07],"object_linear_velocity_m_s":[2.535734946214534e-17,-4.38223584167293e-17,1.1985712464059136e-14],"object_angular_velocity_rad_s":[-2.987326299981246e-16,-1.2472909168859807e-15,-3.929362808499098e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313537772425592,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.979217758378696,-1.5821442072188119,1.5332016911989768,-1.5473763254694117,-1.5708194945830247,-0.40842198659065243,0.0],"actuator_force":[0.0003677198787954694,-21.497381999195568,-22.15000607346974,-2.2844109125430805,0.0025759857411458142,0.007838772498331537,-0.294468534587514],"issued_joint_targets_rad":[-1.9793848639657634,-1.5717150248572553,1.548076969724273,-1.5469234989326888,-1.5708205027489814,-0.40858460969561794],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.240000000000872,"joint_targets_rad":[-1.9793848639657634,-1.5717150248572553,1.548076969724273,-1.5469234989326888,-1.5708205027489814,-0.40858460969561794],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.260000000000861,"qpos":[-1.9778358577266115,-1.569523273980133,1.5041418654558065,-1.5052435300025506,-1.57082331529158,-0.40704284834936777,0.002934209308293443,0.00015661788896505002,0.003194004628666238,-0.0034301641132160584,0.002934080340104245,0.00015604372431860268,0.003195339380200436,-0.003439569103427979,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-2.26349465833739e-17,-1.4316810829827748e-17,-1.1744546628214765e-07],"qvel":[-0.007726565107477895,-0.009673025445529322,0.22282549907515195,-0.2096532479362346,-5.8745886077573655e-06,-0.00778720789492685,0.00011541954063018798,4.2134223076199995e-05,7.774188812462849e-05,-0.00022313486075396693,9.549013201809084e-05,-6.580350796381821e-06,-0.000167641574209472,-0.00025768558956784475,1.590131706431817e-17,-2.766550683109352e-17,1.1971834676251318e-14,1.2004624796425325e-15,4.269602692344418e-16,-4.2522554898048535e-09],"joint_position_rad":[-1.9778358577266115,-1.569523273980133,1.5041418654558065,-1.5052435300025506,-1.57082331529158,-0.40704284834936777],"joint_velocity_rad_s":[-0.007726565107477895,-0.009673025445529322,0.22282549907515195,-0.2096532479362346,-5.8745886077573655e-06,-0.00778720789492685],"linkage_position_rad":[0.002934209308293443,0.00015661788896505002,0.003194004628666238,-0.0034301641132160584,0.002934080340104245,0.00015604372431860268,0.003195339380200436,-0.003439569103427979],"tcp_position_m":[0.07159891802208725,0.5045363836933623,0.3577937768083557],"tcp_quaternion_wxyz":[4.419474975299518e-05,0.7071056048229418,0.7071079522268167,-7.464853257497461e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-2.26349465833739e-17,-1.4316810829827748e-17,-1.1744546628214765e-07],"object_linear_velocity_m_s":[1.590131706431817e-17,-2.766550683109352e-17,1.1971834676251318e-14],"object_angular_velocity_rad_s":[1.2004625800533533e-15,4.269599870641797e-16,-4.252255489804855e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313537520329518,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9793803852648408,-1.5822074115655294,1.5376301045652965,-1.5517429755939478,-1.5708193455094697,-0.4085846122222528,0.0],"actuator_force":[0.001570966532199236,-21.49906499258077,-22.153721411080824,-2.284398002075136,0.0025723499159084895,0.007838853050202488,-0.2944690307831258],"issued_joint_targets_rad":[-1.9795475568000922,-1.571762361496502,1.55248983868505,-1.5512898942565645,-1.5708203548494493,-0.4087473024331896],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.260000000000861,"joint_targets_rad":[-1.9795475568000922,-1.571762361496502,1.55248983868505,-1.5512898942565645,-1.5708203548494493,-0.4087473024331896],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.28000000000085,"qpos":[-1.9779981322050282,-1.5697397482895141,1.5087355506788924,-1.5096163898803765,-1.5708230566130614,-0.4072054677493853,0.002934209719058209,0.0001566172229630432,0.0031940151265125983,-0.003430162065095394,0.0029340809844658686,0.00015604537813052619,0.003195357848120596,-0.0034395657745568053,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-2.6265107744966378e-17,-5.76639802118416e-17,-1.1791406921532413e-07],"qvel":[-0.007731684161513439,-0.008812001290391646,0.2219168782721699,-0.20962121760095706,-6.388006156400601e-06,-0.007787578448750511,0.00011544841539362512,4.2120673681790654e-05,7.878233200711827e-05,-0.00022290438210551512,9.554984392736903e-05,-6.4323210598220595e-06,-0.00016613880492269732,-0.0002575310504635839,6.706846133195577e-17,-3.482434934297791e-17,1.20328969426057e-14,9.289729031311403e-16,1.25053236600587e-16,-1.70927327763394e-08],"joint_position_rad":[-1.9779981322050282,-1.5697397482895141,1.5087355506788924,-1.5096163898803765,-1.5708230566130614,-0.4072054677493853],"joint_velocity_rad_s":[-0.007731684161513439,-0.008812001290391646,0.2219168782721699,-0.20962121760095706,-6.388006156400601e-06,-0.007787578448750511],"linkage_position_rad":[0.002934209719058209,0.0001566172229630432,0.0031940151265125983,-0.003430162065095394,0.0029340809844658686,0.00015604537813052619,0.003195357848120596,-0.0034395657745568053],"tcp_position_m":[0.071686766795026,0.5045387817475575,0.35608100862125747],"tcp_quaternion_wxyz":[4.486571869897843e-05,0.7071054827295352,0.7071080740552563,-7.672524872207119e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-2.6265107744966378e-17,-5.76639802118416e-17,-1.1791406921532413e-07],"object_linear_velocity_m_s":[6.706846133195577e-17,-3.482434934297791e-17,1.20328969426057e-14],"object_angular_velocity_rad_s":[9.289729345934568e-16,1.2505301662474803e-16,-1.709273277633941e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313537271837888,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9795430793408904,-1.5822527288454042,1.5420403911260199,-1.5561093994624144,-1.570819196892547,-0.4087473049644786,0.0],"actuator_force":[0.0027793928811661317,-21.501160595623332,-22.157070414613372,-2.284383030923209,0.0025686608729529326,0.007839237328425952,-0.29446952647280883],"issued_joint_targets_rad":[-1.9797103201208923,-1.571791585058697,1.5568844605265375,-1.5556561468453252,-1.5708202074163127,-0.4089100655053724],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.28000000000085,"joint_targets_rad":[-1.9797103201208923,-1.571791585058697,1.5568844605265375,-1.5556561468453252,-1.5708202074163127,-0.4089100655053724],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.30000000000084,"qpos":[-1.978160452840985,-1.569938359343572,1.5133104120654752,-1.5139886225031893,-1.5708228082809395,-0.4073681005953999,0.0029342099750897096,0.000156616560812052,0.0031940253766719363,-0.003430159901864874,0.002934081473468625,0.00015604702288948838,0.003195376043806486,-0.0034395623245768382,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-1.0425411650395276e-17,-5.265818734854405e-17,-1.1819023622819221e-07],"qvel":[-0.00773693723285634,-0.007949695207288821,0.22101111568303144,-0.2095916361217242,-6.851747002249243e-06,-0.007788236338768907,0.00011547889447959999,4.210737138082347e-05,7.981915184027401e-05,-0.00022267579798069105,9.561094314932679e-05,-6.2855214665454985e-06,-0.0001646461589643195,-0.0002573805685415836,9.129898433920546e-17,-7.543702094993837e-18,1.1687340026191122e-14,2.3406848717898456e-15,-1.2369061979819046e-15,-6.870742232395264e-08],"joint_position_rad":[-1.978160452840985,-1.569938359343572,1.5133104120654752,-1.5139886225031893,-1.5708228082809395,-0.4073681005953999],"joint_velocity_rad_s":[-0.00773693723285634,-0.007949695207288821,0.22101111568303144,-0.2095916361217242,-6.851747002249243e-06,-0.007788236338768907],"linkage_position_rad":[0.0029342099750897096,0.000156616560812052,0.0031940253766719363,-0.003430159901864874,0.002934081473468625,0.00015604702288948838,0.003195376043806486,-0.0034395623245768382],"tcp_position_m":[0.0717747069798711,0.504541306286013,0.35436816543887867],"tcp_quaternion_wxyz":[4.54793056237727e-05,0.7071053722102315,0.7071081843239871,-7.864538127990576e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-1.0425411650395276e-17,-5.265818734854405e-17,-1.1819023622819221e-07],"object_linear_velocity_m_s":[9.129898433920546e-17,-7.543702094993837e-18,1.1687340026191122e-14],"object_angular_velocity_rad_s":[2.3406845866453268e-15,-1.2369067527066737e-15,-6.870742232395268e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313537026637142,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9797058438233122,-1.5822801332641327,1.5464326086338855,-1.560475681228116,-1.5708190487795342,-0.40891006804094593,0.0],"actuator_force":[0.003992928488514735,-21.503669758205888,-22.16005313639198,-2.2843657502908172,0.0025649254029076474,0.007839911103872055,-0.29447002161606134],"issued_joint_targets_rad":[-1.979873157417333,-1.5718026654863186,1.5612608882582142,-1.5600223397719113,-1.5708200604921405,-0.40907290240788363],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.30000000000084,"joint_targets_rad":[-1.979873157417333,-1.5718026654863186,1.5612608882582142,-1.5600223397719113,-1.5708200604921405,-0.40907290240788363],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.320000000000828,"qpos":[-1.978322822270216,-1.5701190803735159,1.517866509265107,-1.518360281046886,-1.5708225693468427,-0.40753075265921757,0.0029342101062355998,0.00015661590257847136,0.0031940354095599233,-0.003430157651577993,0.002934081836803517,0.0001560486584405041,0.0031953939948333467,-0.003439558782206905,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-4.500856332779769e-19,-4.303067421509184e-17,-1.1845075392855514e-07],"qvel":[-0.007742328509041616,-0.007086091307993512,0.22010817760435591,-0.2095646547075876,-7.2708098002646e-06,-0.007789170068689592,0.00011551066586583561,4.2094301513432474e-05,8.085223098903925e-05,-0.0002224487127316479,9.56731305814776e-05,-6.139920445151338e-06,-0.00016316363515597553,-0.0002572338286602122,5.272498240913964e-17,-4.384593505406929e-18,1.1413947606377173e-14,2.6430485013709973e-16,2.005558022606185e-15,-7.4353407411362174e-09],"joint_position_rad":[-1.978322822270216,-1.5701190803735159,1.517866509265107,-1.518360281046886,-1.5708225693468427,-0.40753075265921757],"joint_velocity_rad_s":[-0.007742328509041616,-0.007086091307993512,0.22010817760435591,-0.2095646547075876,-7.2708098002646e-06,-0.007789170068689592],"linkage_position_rad":[0.0029342101062355998,0.00015661590257847136,0.0031940354095599233,-0.003430157651577993,0.002934081836803517,0.0001560486584405041,0.0031953939948333467,-0.003439558782206905],"tcp_position_m":[0.07186274278561544,0.504543964197669,0.35265524771155987],"tcp_quaternion_wxyz":[4.604127791782032e-05,0.7071052721557136,0.7071082841416083,-8.042452628767863e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-4.500856332779769e-19,-4.303067421509184e-17,-1.1845075392855514e-07],"object_linear_velocity_m_s":[5.272498240913964e-17,-4.384593505406929e-18,1.1413947606377173e-14],"object_angular_velocity_rad_s":[2.6430532589670766e-16,2.0055579599852197e-15,-7.435340741136222e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313536784467158,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9798686822024036,-1.5822895954159792,1.550806810015324,-1.5648419038572006,-1.5708189012099147,-0.4090729049474132,0.0],"actuator_force":[0.00521153924137252,-21.50659356172946,-22.162669541307878,-2.284345934398516,0.0025611494440909155,0.007840862771132606,-0.2944705161341924],"issued_joint_targets_rad":[-1.9800360724888628,-1.571795568810397,1.565619169751733,-1.564388554907259,-1.5708199141120378,-0.40923581694536093],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.320000000000828,"joint_targets_rad":[-1.9800360724888628,-1.571795568810397,1.565619169751733,-1.564388554907259,-1.5708199141120378,-0.40923581694536093],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.340000000000817,"qpos":[-1.978485243218771,-1.570281883985604,1.5224039008581876,-1.5227314214477392,-1.5708223389558655,-0.4076934295226515,0.0029342101369552887,0.00015661524830645984,0.0031940452502194254,-0.0034301553372237284,0.002934082098787782,0.00015605028466467643,0.003195411723860972,-0.0034395551708989946,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,2.4087548386310703e-17,-3.2052594597135896e-17,-1.1888000383829598e-07],"qvel":[-0.007747863381365517,-0.006221156887678201,0.21920800982979663,-0.20954040460045856,-7.649684176769667e-06,-0.007790370662171679,0.00011554346967222958,4.2081449229806836e-05,8.188151685504265e-05,-0.00022222277236554582,9.573616009657051e-05,-5.995485186250729e-06,-0.0001616911696178208,-0.00025709056831911987,4.361191274078771e-17,3.234205003182415e-17,1.1315415312941687e-14,1.2389650767844874e-15,9.805199651361274e-16,-2.988773668369605e-08],"joint_position_rad":[-1.978485243218771,-1.570281883985604,1.5224039008581876,-1.5227314214477392,-1.5708223389558655,-0.4076934295226515],"joint_velocity_rad_s":[-0.007747863381365517,-0.006221156887678201,0.21920800982979663,-0.20954040460045856,-7.649684176769667e-06,-0.007790370662171679],"linkage_position_rad":[0.0029342101369552887,0.00015661524830645984,0.0031940452502194254,-0.0034301553372237284,0.002934082098787782,0.00015605028466467643,0.003195411723860972,-0.0034395551708989946],"tcp_position_m":[0.07195087874237953,0.504546762929062,0.35094225591972417],"tcp_quaternion_wxyz":[4.655684535664883e-05,0.7071051815557567,0.7071083745175577,-8.20767769213112e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,2.4087548386310703e-17,-3.2052594597135896e-17,-1.1888000383829598e-07],"object_linear_velocity_m_s":[4.361191274078771e-17,3.234205003182415e-17,1.1315415312941687e-14],"object_angular_velocity_rad_s":[1.238965311828847e-15,9.805196719995988e-16,-2.9887736683696075e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313536545113041,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9800315982789924,-1.5822810819879047,1.5551630430668515,-1.5692081491247212,-1.5708187542160466,-0.4092358194885552,0.0],"actuator_force":[0.006435232102830923,-21.50993324953015,-22.16491951459102,-2.2843233784451513,0.002557338327164871,0.007842083265302335,-0.29447100993599756],"issued_joint_targets_rad":[-1.9801990694891243,-1.5717702567899667,1.5699593473813964,-1.5687548729198861,-1.570819768304267,-0.40939881327530653],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.340000000000817,"joint_targets_rad":[-1.9801990694891243,-1.5717702567899667,1.5699593473813964,-1.5687548729198861,-1.570819768304267,-0.40939881327530653],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.360000000000806,"qpos":[-1.9786477185277558,-1.5704267418133868,1.526922643937168,-1.5271021020219877,-1.5708221163368568,-0.4078561366293532,0.0029342100872964323,0.00015661459802227432,0.0031940549192673354,-0.0034301529776729176,0.002934082279339118,0.0001560519014782557,0.0031954292495536304,-0.003439551509786738,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,2.097982738310373e-17,-1.8073964467239698e-17,-1.1899332906818421e-07],"qvel":[-0.007753548541847575,-0.005354842363373344,0.21831053794331712,-0.20951899899864365,-7.992402887378359e-06,-0.007791831622991289,0.00011557708809748639,4.206879881811323e-05,8.290701564182608e-05,-0.0002219976493391201,9.579982873225518e-05,-5.852181921564136e-06,-0.0001602286424312101,-0.00025695056726731053,2.4964790495936812e-17,2.377910870506227e-17,1.128627195854528e-14,-9.590746818570766e-16,1.3409021758486252e-15,-3.2343740851871105e-09],"joint_position_rad":[-1.9786477185277558,-1.5704267418133868,1.526922643937168,-1.5271021020219877,-1.5708221163368568,-0.4078561366293532],"joint_velocity_rad_s":[-0.007753548541847575,-0.005354842363373344,0.21831053794331712,-0.20951899899864365,-7.992402887378359e-06,-0.007791831622991289],"linkage_position_rad":[0.0029342100872964323,0.00015661459802227432,0.0031940549192673354,-0.0034301529776729176,0.002934082279339118,0.0001560519014782557,0.0031954292495536304,-0.003439551509786738],"tcp_position_m":[0.07203911974036699,0.5045497105487227,0.34922919057487833],"tcp_quaternion_wxyz":[4.703071383308654e-05,0.7071050994896627,0.7071084563717077,-8.361486862990766e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,2.097982738310373e-17,-1.8073964467239698e-17,-1.1899332906818421e-07],"object_linear_velocity_m_s":[2.4964790495936812e-17,2.377910870506227e-17,1.128627195854528e-14],"object_angular_velocity_rad_s":[-9.590743626233065e-16,1.34090240423128e-15,-3.2343740851871134e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313536308397001,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9801945962083376,-1.582254555406178,1.5595013500958266,-1.5735744976131303,-1.570818607823753,-0.40939881582190757,0.0],"actuator_force":[0.007664055575787643,-21.513690240233245,-22.16680286000974,-2.2842978957069136,0.0025534968406191183,0.007843566021932702,-0.2944715029159262],"issued_joint_targets_rad":[-1.9803621529778126,-1.5717266864814423,1.574281457589841,-1.5731213732711626,-1.5708196230907772,-0.4095618959599565],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.360000000000806,"joint_targets_rad":[-1.9803621529778126,-1.5717266864814423,1.574281457589841,-1.5731213732711626,-1.5708196230907772,-0.4095618959599565],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.380000000000795,"qpos":[-1.9788102511802348,-1.5705536241631948,1.5314227936871165,-1.531472383121308,-1.570821900793665,-0.40801887933660996,0.0029342099736959096,0.00015661395173473112,0.0031940644336765356,-0.003430150588441619,0.0029340823947746194,0.0001560535088281996,0.0031954465873352414,-0.0034395478144396323,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,5.283801399521662e-18,-1.442121223663059e-17,-1.1944886093261972e-07],"qvel":[-0.0077593921100498455,-0.004487080892872525,0.2174156672367925,-0.20950053477933994,-8.302588517040464e-06,-0.007793548935404697,0.00011561133702683029,4.2056333553516335e-05,8.392878734601907e-05,-0.00022177303251681683,9.58639685240652e-05,-5.709975625915555e-06,-0.0001587758819711071,-0.0002568136392163101,2.0708102067762277e-17,6.4723595554283756e-18,1.1264067498052773e-14,-7.616466843370937e-16,8.06107361149723e-16,-1.3001168925582289e-08],"joint_position_rad":[-1.9788102511802348,-1.5705536241631948,1.5314227936871165,-1.531472383121308,-1.570821900793665,-0.40801887933660996],"joint_velocity_rad_s":[-0.0077593921100498455,-0.004487080892872525,0.2174156672367925,-0.20950053477933994,-8.302588517040464e-06,-0.007793548935404697],"linkage_position_rad":[0.0029342099736959096,0.00015661395173473112,0.0031940644336765356,-0.003430150588441619,0.0029340823947746194,0.0001560535088281996,0.0031954465873352414,-0.0034395478144396323],"tcp_position_m":[0.07212747107468544,0.5045528158216601,0.3475160522212132],"tcp_quaternion_wxyz":[4.746713390242657e-05,0.7071050251174688,0.7071085305431827,-8.505031030800967e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,5.283801399521662e-18,-1.442121223663059e-17,-1.1944886093261972e-07],"object_linear_velocity_m_s":[2.0708102067762277e-17,6.4723595554283756e-18,1.1264067498052773e-14],"object_angular_velocity_rad_s":[-7.616464913848752e-16,8.061075432427497e-16,-1.30011689255823e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313536074171508,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9803576805519814,-1.58220997341308,1.5638217674863693,-1.5779410287065598,-1.570818462052824,-0.40956189850973646,0.0],"actuator_force":[0.008898100527403585,-21.517866142621187,-22.16831929621185,-2.284269314691869,0.0025496292721527425,0.007845306977230848,-0.2944719949512809],"issued_joint_targets_rad":[-1.980525327982303,-1.5716648097218275,1.5785855303616252,-1.5774881342050673,-1.5708194784876417,-0.4097250700278937],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.380000000000795,"joint_targets_rad":[-1.980525327982303,-1.5716648097218275,1.5785855303616252,-1.5774881342050673,-1.5708194784876417,-0.4097250700278937],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.400000000000784,"qpos":[-1.9789728443309678,-1.5706624996454828,1.5359044029571107,-1.535842326820185,-1.570821691697241,-0.4081816629680381,0.0029342098096369865,0.00015661330943559252,0.003194073807410506,-0.0034301481823280273,0.002934082458465779,0.00015605510668811447,0.003195463750002027,-0.003439544097488704,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,1.1786121529657314e-17,6.710400816676626e-18,-1.1980816980228003e-07],"qvel":[-0.007765403796557455,-0.003617787626703965,0.21652328220894673,-0.20948509403378804,-8.583495373432672e-06,-0.007795521109198126,0.00011564605886442002,4.204403532878833e-05,8.494694297990894e-05,-0.00022154861790682503,9.592843963849725e-05,-5.568829677270055e-06,-0.00015733266737551915,-0.0002566796258290785,-1.7435182176729837e-17,1.685671511882131e-17,1.1534684360305153e-14,1.446878924210672e-15,2.4442100542766015e-15,-5.2260619513852764e-08],"joint_position_rad":[-1.9789728443309678,-1.5706624996454828,1.5359044029571107,-1.535842326820185,-1.570821691697241,-0.4081816629680381],"joint_velocity_rad_s":[-0.007765403796557455,-0.003617787626703965,0.21652328220894673,-0.20948509403378804,-8.583495373432672e-06,-0.007795521109198126],"linkage_position_rad":[0.0029342098096369865,0.00015661330943559252,0.003194073807410506,-0.0034301481823280273,0.002934082458465779,0.00015605510668811447,0.003195463750002027,-0.003439544097488704],"tcp_position_m":[0.07221593849728357,0.5045560882960054,0.3458028414379014],"tcp_quaternion_wxyz":[4.7869944642344685e-05,0.7071049576718366,0.7071085977984858,-8.639350284346669e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,1.1786121529657314e-17,6.710400816676626e-18,-1.1980816980228003e-07],"object_linear_velocity_m_s":[-1.7435182176729837e-17,1.685671511882131e-17,1.1534684360305153e-14],"object_angular_velocity_rad_s":[1.4468795091819193e-15,2.4442097088126022e-15,-5.2260619513852824e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313535842313823,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9805208563393744,-1.582147288557764,1.568124325173142,-1.582307820579684,-1.5708183169174341,-0.4097250725806517,0.0],"actuator_force":[0.010137501809822425,-21.522462773881216,-22.169468451515968,-2.2842374763707767,0.002545739440733996,0.007847304612994321,-0.29447248589765285],"issued_joint_targets_rad":[-1.9806886000714783,-1.5715845725050088,1.5828715885829576,-1.5818552327314457,-1.5708193345054038,-0.409888341047836],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.400000000000784,"joint_targets_rad":[-1.9806886000714783,-1.5715845725050088,1.5828715885829576,-1.5818552327314457,-1.5708193345054038,-0.409888341047836],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.420000000000773,"qpos":[-1.979135501339757,-1.5707533347833953,1.5403675218127033,-1.5402119966314618,-1.5708214884784912,-0.40834449286824226,0.002934209606188924,0.00015661267109972092,0.003194083051939373,-0.003430145769931334,0.0029340824813759037,0.00015605669505446612,0.003195480748222028,-0.003439540369136392,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,1.3218373740152986e-17,1.40985734633315e-17,-1.2000632621616928e-07],"qvel":[-0.007771595111749624,-0.0027468585314524953,0.2156332455848289,-0.20947274542924846,-8.838047043991613e-06,-0.007797749276313603,0.00011568111654405729,4.2031884448384815e-05,8.596164395423863e-05,-0.0002213240981755298,9.599312473340998e-05,-5.4287053749318705e-06,-0.00015589872878716762,-0.0002565483907321349,-1.3527258842177479e-17,1.3466293917950502e-17,1.1193290780232919e-14,-5.683578857394581e-16,-1.7835434242364264e-16,-5.655509991282327e-09],"joint_position_rad":[-1.979135501339757,-1.5707533347833953,1.5403675218127033,-1.5402119966314618,-1.5708214884784912,-0.40834449286824226],"joint_velocity_rad_s":[-0.007771595111749624,-0.0027468585314524953,0.2156332455848289,-0.20947274542924846,-8.838047043991613e-06,-0.007797749276313603],"linkage_position_rad":[0.002934209606188924,0.00015661267109972092,0.003194083051939373,-0.003430145769931334,0.0029340824813759037,0.00015605669505446612,0.003195480748222028,-0.003439540369136392],"tcp_position_m":[0.07230452827754873,0.5045595384044661,0.34408955884220416],"tcp_quaternion_wxyz":[4.824261326459023e-05,0.7071048964505233,0.7071086588390412,-8.765384625818597e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,1.3218373740152986e-17,1.40985734633315e-17,-1.2000632621616928e-07],"object_linear_velocity_m_s":[-1.3527258842177479e-17,1.3466293917950502e-17,1.1193290780232919e-14],"object_angular_velocity_rad_s":[-5.683579287062103e-16,-1.783542058610407e-16,-5.655509991282333e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931353561272158,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9806841291417063,-1.5820664475807005,1.5724090460012363,-1.586674950180165,-1.570818172426465,-0.40988834360339566,0.0],"actuator_force":[0.011382440801298799,-21.527482182029416,-22.170249856865667,-2.2842022314266615,0.0025418307175186783,0.007849560054665972,-0.29447297558462876],"issued_joint_targets_rad":[-1.9808519754449312,-1.5714859142241226,1.5871396472591714,-1.5862227446014432,-1.5708191911493283,-0.4100517152177632],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.420000000000773,"joint_targets_rad":[-1.9808519754449312,-1.5714859142241226,1.5871396472591714,-1.5862227446014432,-1.5708191911493283,-0.4100517152177632],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.440000000000762,"qpos":[-1.9792982258094307,-1.5708260935882716,1.5448121970580102,-1.54458145724657,-1.5708212906218015,-0.4085073744607068,0.002934209372450334,0.00015661203668484186,0.003194092176656102,-0.003430143360096209,0.002934082472501047,0.00015605827394269333,0.0031954975909412016,-0.0034395366375628675,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,1.8254249427990033e-17,2.49709646178095e-17,-1.2043221214564443e-07],"qvel":[-0.007777979631066634,-0.0018741686994781749,0.21474539677007137,-0.2094635454092878,-9.06887003554544e-06,-0.007800237348611816,0.00011571638823135868,4.201985914134444e-05,8.697310349262114e-05,-0.0002210991539071919,9.605792410470204e-05,-5.289561476926586e-06,-0.00015447374544901003,-0.00025641981540313913,-3.320745271014046e-17,1.9775700755949553e-17,1.110308515948213e-14,-1.2476007381280547e-16,-1.4342876518870832e-16,-2.2733375552842618e-08],"joint_position_rad":[-1.9792982258094307,-1.5708260935882716,1.5448121970580102,-1.54458145724657,-1.5708212906218015,-0.4085073744607068],"joint_velocity_rad_s":[-0.007777979631066634,-0.0018741686994781749,0.21474539677007137,-0.2094635454092878,-9.06887003554544e-06,-0.007800237348611816],"linkage_position_rad":[0.002934209372450334,0.00015661203668484186,0.003194092176656102,-0.003430143360096209,0.002934082472501047,0.00015605827394269333,0.0031954975909412016,-0.0034395366375628675],"tcp_position_m":[0.07239324727355591,0.5045631775839128,0.3423762050935403],"tcp_quaternion_wxyz":[4.8588270885881004e-05,0.707104840809345,0.7071087143082411,-8.883983653851405e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,1.8254249427990033e-17,2.49709646178095e-17,-1.2043221214564443e-07],"object_linear_velocity_m_s":[-3.320745271014046e-17,1.9775700755949553e-17,1.110308515948213e-14],"object_angular_velocity_rad_s":[-1.2476010949503747e-16,-1.4342873430847943e-16,-2.2733375552842645e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313535385309249,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.980847505161117,-1.5819673906648979,1.5766759449437786,-1.5910424932033467,-1.5708180285837428,-0.41005171777596994,0.0],"actuator_force":[0.012633149054181558,-21.53292667346159,-22.17066293649168,-2.284163437459597,0.002537906033012405,0.00785207722958603,-0.2944734638092494],"issued_joint_targets_rad":[-1.9810154610417214,-1.5713687667444718,1.5913897125526042,-1.5905907442733698,-1.5708190484195523,-0.41021519947356605],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.440000000000762,"joint_targets_rad":[-1.9810154610417214,-1.5713687667444718,1.5913897125526042,-1.5905907442733698,-1.5708190484195523,-0.41021519947356605],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.46000000000075,"qpos":[-1.9794610216296942,-1.5708807370894835,1.5492384717136096,-1.548950774297093,-1.5708210976591317,-0.4086703133104621,0.002934209115914505,0.00015661140613113254,0.0031941011892053154,-0.0034301409602806227,0.0029340824392326322,0.00015605984338365125,0.0031955142857125083,-0.003439532909262162,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,8.516259333018058e-18,2.7814170096499706e-17,-1.2066809159979032e-07],"qvel":[-0.00778457333205823,-0.0009995700286314119,0.21385954962079595,-0.2094575392411705,-9.278323909119937e-06,-0.007802992250132796,0.00011575176274978464,4.200793518153423e-05,8.798159020017404e-05,-0.00022087344191274144,9.61227516698037e-05,-5.1513534282743925e-06,-0.00015305734128653311,-0.00025629379454034925,-8.097673394902572e-17,-1.3540469233679663e-17,1.108643181411275e-14,-3.338095341718556e-15,3.584832837795429e-15,-9.138103633858513e-08],"joint_position_rad":[-1.9794610216296942,-1.5708807370894835,1.5492384717136096,-1.548950774297093,-1.5708210976591317,-0.4086703133104621],"joint_velocity_rad_s":[-0.00778457333205823,-0.0009995700286314119,0.21385954962079595,-0.2094575392411705,-9.278323909119937e-06,-0.007802992250132796],"linkage_position_rad":[0.002934209115914505,0.00015661140613113254,0.0031941011892053154,-0.0034301409602806227,0.0029340824392326322,0.00015605984338365125,0.0031955142857125083,-0.003439532909262162],"tcp_position_m":[0.07248210301648547,0.5045670184173894,0.3406627808987173],"tcp_quaternion_wxyz":[4.890974481549228e-05,0.7071047901555263,0.7071087647981009,-8.995915316229431e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,8.516259333018058e-18,2.7814170096499706e-17,-1.2066809159979032e-07],"object_linear_velocity_m_s":[-8.097673394902572e-17,-1.3540469233679663e-17,1.108643181411275e-14],"object_angular_velocity_rad_s":[-3.3380944816519636e-15,3.584833644954968e-15,-9.138103633858525e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931353516000541,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9810109913394696,-1.5818500505186437,1.580925028139915,-1.595410524057449,-1.5708178853881765,-0.4102152020342851,0.0],"actuator_force":[0.01388991327257827,-21.53879884686785,-22.17070699570786,-2.284120956060974,0.002533967868544096,0.007854863101783849,-0.29447395032945484],"issued_joint_targets_rad":[-1.9811790646742933,-1.5712330532596708,1.5956217805910957,-1.594959304866637,-1.5708189063111282,-0.41037880162280044],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.46000000000075,"joint_targets_rad":[-1.9811790646742933,-1.5712330532596708,1.5956217805910957,-1.594959304866637,-1.5708189063111282,-0.41037880162280044],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.48000000000074,"qpos":[-1.979623893028468,-1.5709172228028836,1.5536463844331276,-1.5533200141343895,-1.5708209091646155,-0.408833315193449,0.002934208842770896,0.00015661077935993068,0.003194110095742112,-0.003430138576861832,0.0029340823876557827,0.00015606140341936604,0.003195530838960017,-0.003439529189305297,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-6.094967784355823e-18,3.178567073387772e-17,-1.2101458076556726e-07],"qvel":[-0.007791395023954634,-0.0001228881115994868,0.21297548936377592,-0.20945476191596968,-9.468528172733937e-06,-0.00780602424232266,0.00011578713521514536,4.1996085150365914e-05,8.898743494179335e-05,-0.0002206465843345985,9.618753131902375e-05,-5.014032531574018e-06,-0.00015164907793909798,-0.0002561702335930118,-3.8575850350091057e-17,-4.281799613447951e-18,1.1116962947289943e-14,-3.964211438801711e-16,-1.0124527661836114e-15,-9.889021003465326e-09],"joint_position_rad":[-1.979623893028468,-1.5709172228028836,1.5536463844331276,-1.5533200141343895,-1.5708209091646155,-0.408833315193449],"joint_velocity_rad_s":[-0.007791395023954634,-0.0001228881115994868,0.21297548936377592,-0.20945476191596968,-9.468528172733937e-06,-0.00780602424232266],"linkage_position_rad":[0.002934208842770896,0.00015661077935993068,0.003194110095742112,-0.003430138576861832,0.0029340823876557827,0.00015606140341936604,0.003195530838960017,-0.003439529189305297],"tcp_position_m":[0.07257110381149222,0.5045710748040867,0.33894928701860627],"tcp_quaternion_wxyz":[4.9209587686788776e-05,0.7071047439413296,0.7071088108556363,-9.101873820556637e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-6.094967784355823e-18,3.178567073387772e-17,-1.2101458076556726e-07],"object_linear_velocity_m_s":[-3.8575850350091057e-17,-4.281799613447951e-18,1.1116962947289943e-14],"object_angular_velocity_rad_s":[-3.9642138955191245e-16,-1.0124526703586525e-15,-9.88902100346534e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313534936750595,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9811745954922935,-1.5817143512427596,1.5851562917033994,-1.59977911581689,-1.5708177428337908,-0.4103788041859146,0.0],"actuator_force":[0.015153081930748158,-21.545101635112587,-22.170381204966816,-2.2840746496532347,0.002530018229549569,0.00785792799945284,-0.29447443485400476],"issued_joint_targets_rad":[-1.981342795195126,-1.571078686867174,1.5998358359798714,-1.5993284981005456,-1.5708187648139356,-0.4105425305111224],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.48000000000074,"joint_targets_rad":[-1.981342795195126,-1.571078686867174,1.5998358359798714,-1.5993284981005456,-1.5708187648139356,-0.4105425305111224],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.500000000000728,"qpos":[-1.9797868446327918,-1.5709355041177426,1.5580359688368253,-1.5576892436239604,-1.5708207247495654,-0.4089963861750361,0.00293420855815581,0.0001566101562724065,0.003194118901123464,-0.003430136215426153,0.00293408232279616,0.0001560629540989952,0.003195547256191564,-0.003439525481547353,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-8.231947933857752e-18,3.40261644716022e-17,-1.2138755556475848e-07],"qvel":[-0.007798466898267486,0.0007560818871678117,0.21209296843633865,-0.20945523890315199,-9.64138623279051e-06,-0.007809347368101762,0.00011582240293439412,4.1984277732537255e-05,8.999104012330862e-05,-0.00022041815464907865,9.625219372269744e-05,-4.877544899487322e-06,-0.0001502484442358126,-0.0002560490447750717,-5.3323736438854394e-17,-1.1529113051729721e-17,1.1136391850220884e-14,3.6636543708123364e-17,6.858995613964793e-17,-3.975076141113062e-08],"joint_position_rad":[-1.9797868446327918,-1.5709355041177426,1.5580359688368253,-1.5576892436239604,-1.5708207247495654,-0.4089963861750361],"joint_velocity_rad_s":[-0.007798466898267486,0.0007560818871678117,0.21209296843633865,-0.20945523890315199,-9.64138623279051e-06,-0.007809347368101762],"linkage_position_rad":[0.00293420855815581,0.0001566101562724065,0.003194118901123464,-0.003430136215426153,0.00293408232279616,0.0001560629540989952,0.003195547256191564,-0.003439525481547353],"tcp_position_m":[0.07266025885930033,0.5045753621645386,0.3372357242766184],"tcp_quaternion_wxyz":[4.949010371344829e-05,0.7071047016578245,0.707108852989093,-9.202486785296951e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-8.231947933857752e-18,3.40261644716022e-17,-1.2138755556475848e-07],"object_linear_velocity_m_s":[-5.3323736438854394e-17,-1.1529113051729721e-17,1.1136391850220884e-14],"object_angular_velocity_rad_s":[3.663655765492459e-17,6.858994659075296e-17,-3.975076141113067e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313534715495807,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9813383264754703,-1.5815602069189436,1.5893697202345547,-1.6041483401605101,-1.5708176009096337,-0.4105425330765303,0.0],"actuator_force":[0.016423073950136313,-21.551838357268934,-22.169684579076602,-2.2840243779596676,0.002526058589182867,0.007861286063047146,-0.294474917030884],"issued_joint_targets_rad":[-1.981506662706529,-1.5709055687758096,1.6040318499247685,-1.6036983942134813,-1.570818623912447,-0.4107063962317829],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.500000000000728,"joint_targets_rad":[-1.981506662706529,-1.5709055687758096,1.6040318499247685,-1.6036983942134813,-1.570818623912447,-0.4107063962317829],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.520000000000717,"qpos":[-1.979949881542057,-1.5709355295759855,1.5624072527340545,-1.5620585299511083,-1.5708205440578122,-0.40915953270089184,0.0029342082663623326,0.00015660953674734854,0.00319412760904353,-0.003430133881016343,0.002934082248824991,0.00015606449547355325,0.0031955635421637985,-0.003439521788785905,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-5.4525445802730366e-18,2.4439867029132477e-17,-1.2153827839207801e-07],"qvel":[-0.0078058152401616196,0.0016375806774447806,0.21121170092242592,-0.20945898675653377,-9.798606613989727e-06,-0.00781298005102374,0.00011585746116873493,4.197247660564693e-05,9.099289420530194e-05,-0.00022018765984527054,9.631667330903512e-05,-4.7418298951253446e-06,-0.00014885484106445432,-0.00025593014415743444,-3.022527917948131e-17,-7.240950379477516e-18,1.101843065385446e-14,3.908211179490291e-16,-1.0939194204620052e-15,-4.3017252840281205e-09],"joint_position_rad":[-1.979949881542057,-1.5709355295759855,1.5624072527340545,-1.5620585299511083,-1.5708205440578122,-0.40915953270089184],"joint_velocity_rad_s":[-0.0078058152401616196,0.0016375806774447806,0.21121170092242592,-0.20945898675653377,-9.798606613989727e-06,-0.00781298005102374],"linkage_position_rad":[0.0029342082663623326,0.00015660953674734854,0.00319412760904353,-0.003430133881016343,0.002934082248824991,0.00015606449547355325,0.0031955635421637985,-0.003439521788785905],"tcp_position_m":[0.0727495784042295,0.5045798976907021,0.3355220935695014],"tcp_quaternion_wxyz":[4.975337232677092e-05,0.7071046628286569,0.7071088916741847,-9.29832170291314e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-5.4525445802730366e-18,2.4439867029132477e-17,-1.2153827839207801e-07],"object_linear_velocity_m_s":[-3.022527917948131e-17,-7.240950379477516e-18,1.101843065385446e-14],"object_angular_velocity_rad_s":[3.9082085183258483e-16,-1.0939195155083368e-15,-4.301725284028127e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931353449620166,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.981502194395079,-1.5813875198323555,1.5935652849435724,-1.6085182672902474,-1.5708174595995412,-0.41070639879939763,0.0],"actuator_force":[0.017700390020763734,-21.559012783717662,-22.16861594993452,-2.28396999391623,0.0025220897967983547,0.007864955849470334,-0.294475396431755],"issued_joint_targets_rad":[-1.9816706788281462,-1.5707135860238046,1.6082097778387587,-1.608069061856314,-1.5708184835852983,-0.41087041039273087],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.520000000000717,"joint_targets_rad":[-1.9816706788281462,-1.5707135860238046,1.6082097778387587,-1.608069061856314,-1.5708184835852983,-0.41087041039273087],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.540000000000706,"qpos":[-1.9801130094172514,-1.5709172420088966,1.5667602571973385,-1.5664279404340875,-1.5708203667612708,-0.40932276170448223,0.0029342079710187926,0.0001566089206379367,0.0031941362221070547,-0.003430131578377005,0.002934082169231197,0.00015606602758945368,0.003195579701007991,-0.0034395181128709803,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-1.7658165205106026e-18,-5.108647810503009e-18,-1.2201233294752007e-07],"qvel":[-0.007813471356988346,0.002521892052046396,0.21033135512516407,-0.20946601356207684,-9.941721548744575e-06,-0.007816945901433803,0.0001158921984987809,4.19606390321304e-05,9.199359068172797e-05,-0.00021995451952275597,9.638090521929714e-05,-4.60681830911754e-06,-0.00014746756074569267,-0.0002558134493866638,4.3450071156486234e-18,-1.3771532164215394e-19,1.0967082838965546e-14,1.8197863039158654e-16,-1.1084437507414433e-15,-1.729158582651685e-08],"joint_position_rad":[-1.9801130094172514,-1.5709172420088966,1.5667602571973385,-1.5664279404340875,-1.5708203667612708,-0.40932276170448223],"joint_velocity_rad_s":[-0.007813471356988346,0.002521892052046396,0.21033135512516407,-0.20946601356207684,-9.941721548744575e-06,-0.007816945901433803],"linkage_position_rad":[0.0029342079710187926,0.0001566089206379367,0.0031941362221070547,-0.003430131578377005,0.002934082169231197,0.00015606602758945368,0.003195579701007991,-0.0034395181128709803],"tcp_position_m":[0.07283907391629595,0.5045847006539088,0.3338083958811476],"tcp_quaternion_wxyz":[5.000126940331235e-05,0.707104627003587,0.7071089273605473,-9.389891780750807e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-1.7658165205106026e-18,-5.108647810503009e-18,-1.2201233294752007e-07],"object_linear_velocity_m_s":[4.3450071156486234e-18,-1.3771532164215394e-19,1.0967082838965546e-14],"object_angular_velocity_rad_s":[1.8197836008063872e-16,-1.108443795209754e-15,-1.7291585826516877e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931353427883791,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9816662108749674,-1.5811961782076516,1.5977429412571167,-1.61288896582405,-1.5708173188817112,-0.4108704129624781,0.0],"actuator_force":[0.018985627363690583,-21.56662921832867,-22.167173930509307,-2.283911338773578,0.0025181119347053027,0.007868961145447884,-0.29447587253108987],"issued_joint_targets_rad":[-1.9818348570428612,-1.5705026085353422,1.6123695562504736,-1.6124405679511327,-1.5708183438046215,-0.41103458646197316],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.540000000000706,"joint_targets_rad":[-1.9818348570428612,-1.5705026085353422,1.6123695562504736,-1.6124405679511327,-1.5708183438046215,-0.41103458646197316],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.560000000000695,"qpos":[-1.980276234591259,-1.5708805774840968,1.5710949954376872,-1.5707975423403524,-1.570820192555631,-0.4094860807370057,0.0029342076752443417,0.0001566083077675893,0.0031941447418420152,-0.0034301293122082914,0.0029340820869683502,0.00015606755048015088,0.0031955957363168294,-0.0034395144547721595,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,1.1266642015542225e-17,-2.1163154436907592e-17,-1.2229171282597206e-07],"qvel":[-0.007821472805107269,0.003409352491353519,0.20945154361315893,-0.209476319208756,-1.0072103042231267e-05,-0.007821274804574776,0.00011592649148880731,4.194871402282784e-05,9.299385616656682e-05,-0.00021971803635011575,9.644482213826106e-05,-4.472429680755662e-06,-0.00014608575774158447,-0.0002556988759186482,6.969549624612441e-17,4.8700444998829196e-17,1.0975409511650241e-14,3.867864092810111e-15,-3.990964048503066e-15,-6.950674918873375e-08],"joint_position_rad":[-1.980276234591259,-1.5708805774840968,1.5710949954376872,-1.5707975423403524,-1.570820192555631,-0.4094860807370057],"joint_velocity_rad_s":[-0.007821472805107269,0.003409352491353519,0.20945154361315893,-0.209476319208756,-1.0072103042231267e-05,-0.007821274804574776],"linkage_position_rad":[0.0029342076752443417,0.0001566083077675893,0.0031941447418420152,-0.0034301293122082914,0.0029340820869683502,0.00015606755048015088,0.0031955957363168294,-0.0034395144547721595],"tcp_position_m":[0.07292875831787943,0.5045897927884815,0.33209463230039893],"tcp_quaternion_wxyz":[5.02354862650927e-05,0.7071045937515529,0.7071089604786805,-9.477661217781304e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,1.1266642015542225e-17,-2.1163154436907592e-17,-1.2229171282597206e-07],"object_linear_velocity_m_s":[6.969549624612441e-17,4.8700444998829196e-17,1.0975409511650241e-14],"object_angular_velocity_rad_s":[3.867863119628307e-15,-3.9909649929521884e-15,-6.950674918873386e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313534063383894,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.981830389402752,-1.5809860532874749,1.601902625726944,-1.6172605026541502,-1.5708171787280483,-0.41103458903379003,0.0],"actuator_force":[0.0202794990568691,-21.574692603297535,-22.16535686674979,-2.2838482360233456,0.002514124095682746,0.007873332065315708,-0.29447634467876993],"issued_joint_targets_rad":[-1.9819992131511641,-1.570272485267528,1.616511098753103,-1.6168129775025248,-1.5708182045350487,-0.41119894022119513],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.560000000000695,"joint_targets_rad":[-1.9819992131511641,-1.570272485267528,1.616511098753103,-1.6168129775025248,-1.5708182045350487,-0.41119894022119513],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.580000000000684,"qpos":[-1.9804395642072015,-1.5708254639974848,1.5754114714115248,-1.575167402700552,-1.5708200211560301,-0.4096494981278525,0.0029342073817899246,0.00015660769792415305,0.003194153168637422,-0.0034301270874426233,0.0029340820045837468,0.00015606906415467284,0.0031956116511928736,-0.0034395108145944867,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,2.1456899931337237e-17,-2.8787990246387083e-17,-1.2255526133129912e-07],"qvel":[-0.007829865034390088,0.004300364090645857,0.20857180976830925,-0.20948989545060304,-1.0190976269420988e-05,-0.007826004401334146,0.0001159601980297186,4.193663968075721e-05,9.399458829051528e-05,-0.00021947735710936385,9.650835060318802e-05,-4.338568885081976e-06,-0.00014470840852105014,-0.0002555863337119623,3.292659751232486e-17,2.3057138243903328e-17,1.0842182748695222e-14,-4.475518099459498e-16,6.534117425423138e-16,-7.521841841049167e-09],"joint_position_rad":[-1.9804395642072015,-1.5708254639974848,1.5754114714115248,-1.575167402700552,-1.5708200211560301,-0.4096494981278525],"joint_velocity_rad_s":[-0.007829865034390088,0.004300364090645857,0.20857180976830925,-0.20948989545060304,-1.0190976269420988e-05,-0.007826004401334146],"linkage_position_rad":[0.0029342073817899246,0.00015660769792415305,0.003194153168637422,-0.0034301270874426233,0.0029340820045837468,0.00015606906415467284,0.0031956116511928736,-0.0034395108145944867],"tcp_position_m":[0.07301864626952492,0.5045951987757888,0.33038080404425585],"tcp_quaternion_wxyz":[5.045754657724161e-05,0.707104562652847,0.7071089914477692,-9.562049967011733e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,2.1456899931337237e-17,-2.8787990246387083e-17,-1.2255526133129912e-07],"object_linear_velocity_m_s":[3.292659751232486e-17,2.3057138243903328e-17,1.0842182748695222e-14],"object_angular_velocity_rad_s":[-4.475516493547661e-16,6.53411852564744e-16,-7.52184184104918e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313533849829654,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9819947457843101,-1.58075699550662,1.6060442519789322,-1.6216329427579026,-1.5708170391031875,-0.411198942795029,0.0],"actuator_force":[0.021582859538739285,-21.58320865452879,-22.163162772509168,-2.2837804836150326,0.0025101240482854337,0.007878106545177843,-0.2944768120618481],"issued_joint_targets_rad":[-1.9821637658785651,-1.5700230390818453,1.6206342906076856,-1.621186353342363,-1.5708180657322715,-0.41136349037215364],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.580000000000684,"joint_targets_rad":[-1.9821637658785651,-1.5700230390818453,1.6206342906076856,-1.621186353342363,-1.5708180657322715,-0.41136349037215364],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.600000000000673,"qpos":[-1.9806030063947417,-1.5707518198178507,1.579709678060855,-1.5795375881133287,-1.5708198522925239,-0.40981302318710144,0.0029342070931734385,0.00015660709085173628,0.0031941615015865987,-0.0034301249095915367,0.002934081924336537,0.00015607056858091725,0.0031956274482490546,-0.003439507191545237,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,2.4473042112767072e-17,-1.586357017285147e-17,-1.2298950503898755e-07],"qvel":[-0.007838703629643177,0.005195412197301266,0.20769160937865708,-0.20950672570732803,-1.0299430053393544e-05,-0.007831182128319151,0.00011599314871102334,4.192433954456986e-05,9.499691051239128e-05,-0.0002192314198630595,9.657140655078885e-05,-4.205120976946328e-06,-0.00014333425339647116,-0.0002554757221535223,1.825897209305837e-17,3.25323666333342e-17,1.0847733863818352e-14,-1.9376686957432907e-16,1.1293033877658171e-15,-3.023544396265733e-08],"joint_position_rad":[-1.9806030063947417,-1.5707518198178507,1.579709678060855,-1.5795375881133287,-1.5708198522925239,-0.40981302318710144],"joint_velocity_rad_s":[-0.007838703629643177,0.005195412197301266,0.20769160937865708,-0.20950672570732803,-1.0299430053393544e-05,-0.007831182128319151],"linkage_position_rad":[0.0029342070931734385,0.00015660709085173628,0.0031941615015865987,-0.0034301249095915367,0.002934081924336537,0.00015607056858091725,0.0031956274482490546,-0.003439507191545237],"tcp_position_m":[0.07310875453558326,0.5046009468638916,0.32866691248853214],"tcp_quaternion_wxyz":[5.066882122741341e-05,0.7071045332898538,0.7071090206849424,-9.643438027754744e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,2.4473042112767072e-17,-1.586357017285147e-17,-1.2298950503898755e-07],"object_linear_velocity_m_s":[1.825897209305837e-17,3.25323666333342e-17,1.0847733863818352e-14],"object_angular_velocity_rad_s":[-1.9376659083010981e-16,1.1293034369082743e-15,-3.023544396265738e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313533638178238,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9821592987513703,-1.5805088293978393,1.6101677053165542,-1.6260063489421284,-1.5708168999630827,-0.411363492947961,0.0],"actuator_force":[0.022896738600138633,-21.592184038897813,-22.160589240064837,-2.2837078436671163,0.0025061077259351805,0.00788333240214456,-0.29447727365180776],"issued_joint_targets_rad":[-1.9823285377039381,-1.5697540597870847,1.6247389814173014,-1.625560755779261,-1.570817927340963,-0.41152825936358106],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.600000000000673,"joint_targets_rad":[-1.9823285377039381,-1.5697540597870847,1.6247389814173014,-1.625560755779261,-1.570817927340963,-0.41152825936358106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.620000000000662,"qpos":[-1.9807665704987083,-1.5706595513505925,1.5839895950442668,-1.5839081645314925,-1.5708196857050936,-0.4099766664668449,0.0029342068118209117,0.000156606486240082,0.0031941697381939168,-0.0034301227851954046,0.002934081848313896,0.0001560720636609886,0.0031956431295505723,-0.0034395035838254862,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,1.668320218295234e-17,-7.211089225614457e-18,-1.2310414866938697e-07],"qvel":[-0.007848057425217136,0.006095089883203292,0.2068102850422149,-0.20952678451880238,-1.0398423787811788e-05,-0.007836868074587878,0.00011602513493989171,4.1911717359698396e-05,9.600225064613439e-05,-0.00021897887511360573,9.663388940626391e-05,-4.071944274906225e-06,-0.0001419617141830479,-0.00025536692504092253,1.0417618614295712e-17,2.0245428547843007e-17,1.0828304960887407e-14,-8.678398735483785e-16,5.964488600315147e-16,-3.272002073690362e-09],"joint_position_rad":[-1.9807665704987083,-1.5706595513505925,1.5839895950442668,-1.5839081645314925,-1.5708196857050936,-0.4099766664668449],"joint_velocity_rad_s":[-0.007848057425217136,0.006095089883203292,0.2068102850422149,-0.20952678451880238,-1.0398423787811788e-05,-0.007836868074587878],"linkage_position_rad":[0.0029342068118209117,0.000156606486240082,0.0031941697381939168,-0.0034301227851954046,0.002934081848313896,0.0001560720636609886,0.0031956431295505723,-0.0034395035838254862],"tcp_position_m":[0.07319910245970902,0.5046070696738532,0.326952959209019],"tcp_quaternion_wxyz":[5.08705411702659e-05,0.7071045052354875,0.7071090486168355,-9.722169299133171e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,1.668320218295234e-17,-7.211089225614457e-18,-1.2310414866938697e-07],"object_linear_velocity_m_s":[1.0417618614295712e-17,2.0245428547843007e-17,1.0828304960887407e-14],"object_angular_velocity_rad_s":[-8.678397266505061e-16,5.964490738100502e-16,-3.2720020736903677e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313533428449731,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982324070790102,-1.5802413466790106,1.6142728353953426,-1.6303807814921216,-1.5708167612529775,-0.4115282619413264,0.0],"actuator_force":[0.02422238729923265,-21.60162661011782,-22.15763331473454,-2.2836300284342315,0.0025020684367973445,0.007889070218027427,-0.2944777281284711],"issued_joint_targets_rad":[-1.982493556015075,-1.5694652944944496,1.6288249749652386,-1.629936242107604,-1.57081778929177,-0.41169327454468807],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.620000000000662,"joint_targets_rad":[-1.982493556015075,-1.5694652944944496,1.6288249749652386,-1.629936242107604,-1.57081778929177,-0.41169327454468807],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.64000000000065,"qpos":[-1.9809302673813898,-1.5705485503221952,1.5882511857471713,-1.5882791970160022,-1.5708195211377924,-0.41014044010652057,0.0029342065402286907,0.00015660588370863538,0.003194177873883133,-0.0034301207224528775,0.0029340817785555194,0.00015607354919349185,0.0031956586964667763,-0.003439499988427395,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-1.9782102319745014e-17,1.6887901821263532e-18,-1.235649800901834e-07],"qvel":[-0.007858012930621985,0.007000132599863931,0.20592702985945666,-0.20955003651530774,-1.0488789616387655e-05,-0.007843139063725612,0.00011605589203055316,4.189864926547601e-05,9.701245726633912e-05,-0.00021871797490636703,9.669567397898328e-05,-3.938859791811998e-06,-0.00014058877118428476,-0.00025525980028966915,-1.751321008899743e-18,-2.018671382352226e-17,1.0822753845764282e-14,-3.6262147658842985e-16,1.8814601713590028e-16,-1.3152421632274246e-08],"joint_position_rad":[-1.9809302673813898,-1.5705485503221952,1.5882511857471713,-1.5882791970160022,-1.5708195211377924,-0.41014044010652057],"joint_velocity_rad_s":[-0.007858012930621985,0.007000132599863931,0.20592702985945666,-0.20955003651530774,-1.0488789616387655e-05,-0.007843139063725612],"linkage_position_rad":[0.0029342065402286907,0.00015660588370863538,0.003194177873883133,-0.0034301207224528775,0.0029340817785555194,0.00015607354919349185,0.0031956586964667763,-0.003439499988427395],"tcp_position_m":[0.07328971259487511,0.5046136052686738,0.3252389460378382],"tcp_quaternion_wxyz":[5.106380811589729e-05,0.7071044780379753,0.7071090756948045,-9.79855501721914e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-1.9782102319745014e-17,1.6887901821263532e-18,-1.235649800901834e-07],"object_linear_velocity_m_s":[-1.751321008899743e-18,-2.018671382352226e-17,1.0822753845764282e-14],"object_angular_velocity_rad_s":[-3.6262143013632513e-16,1.8814610623016086e-16,-1.3152421632274273e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313533220687786,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9824890892970204,-1.5799542966664104,1.6183594460614703,-1.6347562976801924,-1.5708166229044673,-0.4116932771243431,0.0],"actuator_force":[0.025561340987223957,-21.611545728375404,-22.154291315184764,-2.2835466805643136,0.0024979956242532353,0.007895397461282982,-0.2944781737692582],"issued_joint_targets_rad":[-1.9826588547633979,-1.569156433906457,1.6328920147619062,-1.6343128659034505,-1.57081765149689,-0.4118585698168641],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.64000000000065,"joint_targets_rad":[-1.9826588547633979,-1.569156433906457,1.6328920147619062,-1.6343128659034505,-1.57081765149689,-0.4118585698168641],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.66000000000064,"qpos":[-1.981094109831145,-1.570418689982183,1.5924943932473576,-1.5926507494373328,-1.570819358331404,-0.41030435830115464,0.0029342062811715127,0.00015660528278490908,0.0031941859011826754,-0.003430118732160826,0.0029340817172027827,0.00015607502481280905,0.0031956741493780784,-0.0034394964007848448,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-1.1980444136421657e-17,8.495373033720016e-18,-1.2392846907929195e-07],"qvel":[-0.007868680783983527,0.007911468458246217,0.2050408346824956,-0.2095764346744185,-1.0571227586992586e-05,-0.007850094631501778,0.00011608507396549438,4.188497206630569e-05,9.802997562541805e-05,-0.0002184464010023121,9.675659853060143e-05,-3.8056356654436506e-06,-0.00013921277804533806,-0.0002551541697470752,-1.3130099134560415e-17,-7.256355484244143e-18,1.0800549385271775e-14,1.319765868574262e-15,9.55967983590108e-16,-5.286860793398462e-08],"joint_position_rad":[-1.981094109831145,-1.570418689982183,1.5924943932473576,-1.5926507494373328,-1.570819358331404,-0.41030435830115464],"joint_velocity_rad_s":[-0.007868680783983527,0.007911468458246217,0.2050408346824956,-0.2095764346744185,-1.0571227586992586e-05,-0.007850094631501778],"linkage_position_rad":[0.0029342062811715127,0.00015660528278490908,0.0031941859011826754,-0.003430118732160826,0.0029340817172027827,0.00015607502481280905,0.0031956741493780784,-0.0034394964007848448],"tcp_position_m":[0.07338061155625519,0.5046205986012039,0.32352487514237116],"tcp_quaternion_wxyz":[5.124960273225128e-05,0.7071044511997737,0.7071091024160097,-9.87287677678268e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-1.1980444136421657e-17,8.495373033720016e-18,-1.2392846907929195e-07],"object_linear_velocity_m_s":[-1.3130099134560415e-17,-7.256355484244143e-18,1.0800549385271775e-14],"object_angular_velocity_rad_s":[1.3197661046192443e-15,9.559676552101747e-16,-5.286860793398472e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313533014970525,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982654388234215,-1.5796473726418878,1.6224272808992997,-1.6391329510610149,-1.5708164848311819,-0.41185857239840684,0.0],"actuator_force":[0.026915507453850296,-21.621952702708313,-22.15055856911431,-2.2834573443992667,0.002493872869763436,0.007902414524068035,-0.29447860828119526],"issued_joint_targets_rad":[-1.9827941205383055,-1.5688587227769095,1.636163821732076,-1.6378869075199731,-1.5708171457462903,-0.41199390157573734],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.66000000000064,"joint_targets_rad":[-1.9827941205383055,-1.5688587227769095,1.636163821732076,-1.6378869075199731,-1.5708171457462903,-0.41199390157573734],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.680000000000629,"qpos":[-1.9812556050910213,-1.570265897512197,1.5966596059752547,-1.5969537391692095,-1.5708192486113122,-0.4104656755956284,0.0029346301110302116,0.00015667209307696186,0.0031945451399861685,-0.003430768238024968,0.0029344818546934446,0.00015609741588529856,0.003195780880720078,-0.0034401855392838638,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999933,-4.565657778032188e-18,9.908679837745665e-18,-1.2412893080081327e-07],"qvel":[-0.007766677433180965,0.008759047816596225,0.20057931282368555,-0.20587273609585696,-9.955319458382159e-06,-0.007718827291305996,0.00011409452366063823,3.388437289824682e-05,9.982527697025066e-05,-0.00019847849702877475,9.894367022174135e-05,-1.2943000299810906e-06,-8.57196243958542e-05,-0.00022911517977341927,-9.687570796224985e-18,-6.939614282282254e-18,1.0776957145998487e-14,4.1001387333888516e-16,-2.612855738878141e-16,-5.7213049362452305e-09],"joint_position_rad":[-1.9812556050910213,-1.570265897512197,1.5966596059752547,-1.5969537391692095,-1.5708192486113122,-0.4104656755956284],"joint_velocity_rad_s":[-0.007766677433180965,0.008759047816596225,0.20057931282368555,-0.20587273609585696,-9.955319458382159e-06,-0.007718827291305996],"linkage_position_rad":[0.0029346301110302116,0.00015667209307696186,0.0031945451399861685,-0.003430768238024968,0.0029344818546934446,0.00015609741588529856,0.003195780880720078,-0.0034401855392838638],"tcp_position_m":[0.07347009062081748,0.5046271633051835,0.32183118530996907],"tcp_quaternion_wxyz":[5.3932044666275274e-05,0.7071045134568525,0.7071090389456454,-0.00010574330851372285],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999933,-4.565657778032188e-18,9.908679837745665e-18,-1.2412893080081327e-07],"object_linear_velocity_m_s":[-9.687570796224985e-18,-6.939614282282254e-18,1.0776957145998487e-14],"object_angular_velocity_rad_s":[4.100138083592944e-16,-2.61285675729217e-16,-5.721304936245242e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931353402629094,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827898052354673,-1.5793513392373781,1.6257000099978112,-1.6427071735532317,-1.5708159788317462,-0.4119939040987532,0.0],"actuator_force":[0.03827068438022252,-21.67450257700102,-22.15091708436148,-2.289443582425406,0.0026304217287815845,0.007768477568191656,-0.29452078925559466],"issued_joint_targets_rad":[-1.9827959582080183,-1.5687038186517808,1.636026492844643,-1.6379253263642073,-1.570815090187946,-0.4119961065029403],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.680000000000629,"joint_targets_rad":[-1.9827959582080183,-1.5687038186517808,1.636026492844643,-1.6379253263642073,-1.570815090187946,-0.4119961065029403],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.700000000000617,"qpos":[-1.9814039640096879,-1.5700816038712373,1.6004558268732192,-1.600862467635595,-1.5708193574508493,-0.4106123596381682,0.0029368053090772293,0.0001569195042918807,0.0031964449253796185,-0.0034337855727379065,0.002936579107858554,0.0001562035285883898,0.003196824213354107,-0.0034433866468120047,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-8.713546574252337e-18,-1.1550320262946983e-17,-1.245597713924378e-07],"qvel":[-0.007137436937648638,0.008973140137517863,0.18085800342836061,-0.18626876121640254,-6.422542410631363e-06,-0.006988996015655185,9.636523445325624e-05,5.00138716476542e-07,9.662757394349524e-05,-9.519606708760701e-05,9.766245414465844e-05,3.8039741678297957e-06,0.00010418740734628702,-0.00010343445290418335,1.6575654509596945e-17,-1.2106713289833951e-17,1.145974430614296e-14,6.926463747957525e-17,-8.240097313396914e-16,-2.2997850586153397e-08],"joint_position_rad":[-1.9814039640096879,-1.5700816038712373,1.6004558268732192,-1.600862467635595,-1.5708193574508493,-0.4106123596381682],"joint_velocity_rad_s":[-0.007137436937648638,0.008973140137517863,0.18085800342836061,-0.18626876121640254,-6.422542410631363e-06,-0.006988996015655185],"linkage_position_rad":[0.0029368053090772293,0.0001569195042918807,0.0031964449253796185,-0.0034337855727379065,0.002936579107858554,0.0001562035285883898,0.003196824213354107,-0.0034433866468120047],"tcp_position_m":[0.07355123888297842,0.5046306203001174,0.32026423077923316],"tcp_quaternion_wxyz":[6.710664457671029e-05,0.7071051018652779,0.7071084436314115,-0.0001391328694568748],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-8.713546574252337e-18,-1.1550320262946983e-17,-1.245597713924378e-07],"object_linear_velocity_m_s":[1.6575654509596945e-17,-1.2106713289833951e-17,1.145974430614296e-14],"object_angular_velocity_rad_s":[6.92644327339106e-17,-8.240097489956263e-16,-2.2997850586153397e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313532553240043,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827924091253628,-1.5791963393308122,1.625563530425538,-1.6427463792785257,-1.5708139228320994,-0.41199610872362996,0.0],"actuator_force":[0.0780845437093376,-21.818726974157016,-22.127794266706587,-2.3150796998251053,0.003359563615958905,0.007025058834670972,-0.29463935928977875],"issued_joint_targets_rad":[-1.9827975901467836,-1.5685758216386998,1.6359146167460987,-1.6379602878249857,-1.5708133204999988,-0.4119980731258655],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.700000000000617,"joint_targets_rad":[-1.9827975901467836,-1.5685758216386998,1.6359146167460987,-1.6379602878249857,-1.5708133204999988,-0.4119980731258655],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.720000000000606,"qpos":[-1.9815390598045362,-1.569902424601774,1.6038768032332331,-1.6044008507576735,-1.570819326863408,-0.41074517256617976,0.0029384463111586023,0.00015687879816826797,0.00319805242572429,-0.0034352658131455603,0.0029382456008221003,0.0001562296433356485,0.003198744306170715,-0.0034448517600881618,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-3.975799432000132e-18,-7.053938998153633e-18,-1.2479839501567316e-07],"qvel":[-0.006465877602328933,0.008566770176248245,0.1629201401995514,-0.16865264714390005,3.4494411694149624e-06,-0.006328106933031955,6.890832784215587e-05,-2.9313644058587334e-06,7.427754115258599e-05,-5.520980858092681e-05,7.019667270303533e-05,8.365178883078825e-07,9.114166725024989e-05,-5.5309948497288844e-05,-1.5607925742197013e-17,-3.964527609565809e-18,1.1663747786917834e-14,1.1330623592288282e-15,2.4458607881403915e-15,-9.24441429842892e-08],"joint_position_rad":[-1.9815390598045362,-1.569902424601774,1.6038768032332331,-1.6044008507576735,-1.570819326863408,-0.41074517256617976],"joint_velocity_rad_s":[-0.006465877602328933,0.008566770176248245,0.1629201401995514,-0.16865264714390005,3.4494411694149624e-06,-0.006328106933031955],"linkage_position_rad":[0.0029384463111586023,0.00015687879816826797,0.00319805242572429,-0.0034352658131455603,0.0029382456008221003,0.0001562296433356485,0.003198744306170715,-0.0034448517600881618],"tcp_position_m":[0.07362537357936977,0.5046343881367059,0.31884746778604073],"tcp_quaternion_wxyz":[7.837662107065647e-05,0.7071059050311459,0.7071076330656558,-0.00016789125839371133],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-3.975799432000132e-18,-7.053938998153633e-18,-1.2479839501567316e-07],"object_linear_velocity_m_s":[-1.5607925742197013e-17,-3.964527609565809e-18,1.1663747786917834e-14],"object_angular_velocity_rad_s":[1.133062971011985e-15,2.445860504596509e-15,-9.24441429842892e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313514943845155,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827946938091519,-1.5790685494017926,1.6254525576509637,-1.6427820047063382,-1.5708121519404368,-0.41199807509012987,0.0],"actuator_force":[0.07508303170061481,-21.758957670536347,-22.016547244359117,-2.325312259942393,0.003242517368789777,0.006359431328121445,-0.2945301206017611],"issued_joint_targets_rad":[-1.98279907084214,-1.5684724841059503,1.6358258670611636,-1.6379918292556883,-1.5708117142287914,-0.41199985681064055],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.720000000000606,"joint_targets_rad":[-1.98279907084214,-1.5684724841059503,1.6358258670611636,-1.6379918292556883,-1.5708117142287914,-0.41199985681064055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.740000000000595,"qpos":[-1.9816613593647956,-1.5697333721110056,1.6069593298984408,-1.6076047740540456,-1.5708191031043006,-0.4108654269553334,0.002939585476811278,0.00015682346393452846,0.0031992156396158946,-0.0034362105568425476,0.0029394046216859953,0.00015623703366779933,0.0032002540617641984,-0.0034457173129847163,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,3.3138197856692834e-18,3.058462348711876e-18,-1.2514891515931558e-07],"qvel":[-0.005847512153474441,0.008059670170676875,0.14679853239009097,-0.15271115599604046,1.276402406233437e-05,-0.005729737345020675,4.635583886022755e-05,-2.725906309319659e-06,5.1731363938256007e-05,-3.5079431549872444e-05,4.7400828159672905e-05,6.115034837398429e-07,6.764742480899584e-05,-3.399366622194763e-05,-2.277778032356407e-18,4.745536295968366e-19,1.1665135565698618e-14,3.3728336083141425e-16,3.4472895876548694e-16,-1.0004067673644565e-08],"joint_position_rad":[-1.9816613593647956,-1.5697333721110056,1.6069593298984408,-1.6076047740540456,-1.5708191031043006,-0.4108654269553334],"joint_velocity_rad_s":[-0.005847512153474441,0.008059670170676875,0.14679853239009097,-0.15271115599604046,1.276402406233437e-05,-0.005729737345020675],"linkage_position_rad":[0.002939585476811278,0.00015682346393452846,0.0031992156396158946,-0.0034362105568425476,0.0029394046216859953,0.00015623703366779933,0.0032002540617641984,-0.0034457173129847163],"tcp_position_m":[0.07369274377450058,0.5046385017474473,0.3175688258557665],"tcp_quaternion_wxyz":[8.696929435889066e-05,0.7071066246159264,0.7071069068505983,-0.0001901178360107023],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,3.3138197856692834e-18,3.058462348711876e-18,-1.2514891515931558e-07],"object_linear_velocity_m_s":[-2.277778032356407e-18,4.745536295968366e-19,1.1665135565698618e-14],"object_angular_velocity_rad_s":[3.3728344705512007e-16,3.447288744104861e-16,-1.0004067673644566e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313500119263798,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967088947231,-1.5789656647798904,1.6253647399433522,-1.6428140945734062,-1.5708105439835136,-0.4119998585610753,0.0],"actuator_force":[0.06830580153427945,-21.68845340604048,-21.90859286621344,-2.3335446600763134,0.0030031579873366354,0.005757931631109159,-0.29441828825996313],"issued_joint_targets_rad":[-1.9828004176370806,-1.5683893239262185,1.6357558383780657,-1.6380202287364711,-1.5708102511786823,-0.4120014778041616],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.740000000000595,"joint_targets_rad":[-1.9828004176370806,-1.5683893239262185,1.6357558383780657,-1.6380202287364711,-1.5708102511786823,-0.4120014778041616],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.760000000000584,"qpos":[-1.9817719926349666,-1.5695754460790095,1.609737717709706,-1.6105058909994856,-1.5708187134566507,-0.4109743109571544,0.0029403242189016215,0.0001567727416380412,0.0031999827455549057,-0.0034367889288860537,0.00294016077236804,0.00015624317348570868,0.0032013398670126163,-0.003446219580444216,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-1.0913280578347654e-17,4.58577124389973e-18,-1.2552622906433863e-07],"qvel":[-0.005286931166614104,0.007519595792362959,0.13231574845520228,-0.13827619641997996,2.0436041944276125e-05,-0.005187976597433754,2.8693478697592522e-05,-2.457771951815636e-06,3.3220875228613167e-05,-1.941181960357514e-05,2.9614911364885314e-05,5.058910272318119e-07,4.7634176215989254e-05,-1.8163347650008057e-05,-3.9943711313054574e-18,-2.5658986728687042e-17,1.1741463398641598e-14,-1.6261667801851908e-15,-1.264077680359394e-16,-4.0213212925372535e-08],"joint_position_rad":[-1.9817719926349666,-1.5695754460790095,1.609737717709706,-1.6105058909994856,-1.5708187134566507,-0.4109743109571544],"joint_velocity_rad_s":[-0.005286931166614104,0.007519595792362959,0.13231574845520228,-0.13827619641997996,2.0436041944276125e-05,-0.005187976597433754],"linkage_position_rad":[0.0029403242189016215,0.0001567727416380412,0.0031999827455549057,-0.0034367889288860537,0.00294016077236804,0.00015624317348570868,0.0032013398670126163,-0.003446219580444216],"tcp_position_m":[0.07375390960730324,0.5046428407544467,0.31641506040146894],"tcp_quaternion_wxyz":[9.320348191284705e-05,0.7071072402593007,0.7071062857955529,-0.00020657784039149424],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-1.0913280578347654e-17,4.58577124389973e-18,-1.2552622906433863e-07],"object_linear_velocity_m_s":[-3.9943711313054574e-18,-2.5658986728687042e-17,1.1741463398641598e-14],"object_angular_velocity_rad_s":[-1.626166812288938e-15,-1.2640736066048405e-16,-4.021321292537254e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313489230342169,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982798491610072,-1.578883124624551,1.6252956473099227,-1.6428429499215778,-1.5708090788664584,-0.41200147937531145,0.0],"actuator_force":[0.06177451643497989,-21.623195408028096,-21.81044018164721,-2.3409098190479654,0.002773690901676673,0.005213450664854236,-0.2943157915137955],"issued_joint_targets_rad":[-1.9828016420410643,-1.568322528192891,1.6357008181777475,-1.6380457622340152,-1.5708089204545606,-0.4120029503284893],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.760000000000584,"joint_targets_rad":[-1.9828016420410643,-1.568322528192891,1.6357008181777475,-1.6380457622340152,-1.5708089204545606,-0.4120029503284893],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.780000000000573,"qpos":[-1.9818720529473626,-1.5694289312705645,1.6122427376546467,-1.613132797384383,-1.5708181900780747,-0.4110729001490632,0.002940752530467653,0.00015672680363842817,0.0032004362650733553,-0.0034370844388264743,0.002940604811516295,0.00015624857852781124,0.0032020819121855713,-0.0034464461026142237,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-1.0942261677668162e-17,2.4945922405455472e-18,-1.256787053674974e-07],"qvel":[-0.004779586497778118,0.006969379597222823,0.11929837972799356,-0.12520460051247434,2.6578836817575922e-05,-0.004697462923107481,1.5106197735826225e-05,-2.2039160608550315e-06,1.8855344276467986e-05,-7.483491733827288e-06,1.592180405655611e-05,4.2469376619681613e-07,3.185082779449977e-05,-6.142782330978543e-06,-3.3715232727410803e-18,-1.3401415864059791e-17,1.1791423434749733e-14,7.807946452743284e-16,-2.5615135720473285e-16,-4.35177059890629e-09],"joint_position_rad":[-1.9818720529473626,-1.5694289312705645,1.6122427376546467,-1.613132797384383,-1.5708181900780747,-0.4110729001490632],"joint_velocity_rad_s":[-0.004779586497778118,0.006969379597222823,0.11929837972799356,-0.12520460051247434,2.6578836817575922e-05,-0.004697462923107481],"linkage_position_rad":[0.002940752530467653,0.00015672680363842817,0.0032004362650733553,-0.0034370844388264743,0.002940604811516295,0.00015624857852781124,0.0032020819121855713,-0.0034464461026142237],"tcp_position_m":[0.0738094189558001,0.5046472980713964,0.3153740129985849],"tcp_quaternion_wxyz":[9.744199313906772e-05,0.7071077583025492,0.7071057637061643,-0.0002181442707622375],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-1.0942261677668162e-17,2.4945922405455472e-18,-1.256787053674974e-07],"object_linear_velocity_m_s":[-3.3715232727410803e-18,-1.3401415864059791e-17,1.1791423434749733e-14],"object_angular_velocity_rad_s":[7.807945808670502e-16,-2.561515535584816e-16,-4.3517705989062906e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348158853738,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982800071489549,-1.5788170538074262,1.625241548754967,-1.6428688659066881,-1.5708077457757483,-0.41200295174811674,0.0],"actuator_force":[0.05579751473851502,-21.56399691261231,-21.721729690556458,-2.347574209905133,0.002564267481375282,0.004720492784002772,-0.2942230071081593],"issued_joint_targets_rad":[-1.9828027544226716,-1.5682689836235997,1.6356578047141355,-1.6380686968555984,-1.5708077119555843,-0.412004287223283],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.780000000000573,"joint_targets_rad":[-1.9828027544226716,-1.5682689836235997,1.6356578047141355,-1.6380686968555984,-1.5708077119555843,-0.412004287223283],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.800000000000562,"qpos":[-1.981962539084891,-1.5692937790355073,1.6145019158715388,-1.615511384538668,-1.5708175614735165,-0.4111621682424692,0.002940943564717608,0.00015668534123610748,0.003200649231466354,-0.0034371657682096034,0.002940810055047736,0.00015625342813440683,0.0032025556602064296,-0.0034464649215561506,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,1.8325507573670082e-17,2.103412984283046e-17,-1.2610193413961133e-07],"qvel":[-0.004320576025274928,0.006423473918707529,0.10759156985278814,-0.11336756292716976,3.1391911628455563e-05,-0.004253343041924046,4.786804259394529e-06,-1.975627227374053e-06,7.891097276586162e-06,1.4686439118073208e-06,5.510037599770934e-06,3.595716825632639e-07,1.9609870016228295e-05,2.8528739858707992e-06,-2.5673040199875198e-17,2.4269620217154994e-17,1.1887180170623654e-14,5.863048381918955e-16,1.7476704188865431e-16,-1.749275228887531e-08],"joint_position_rad":[-1.981962539084891,-1.5692937790355073,1.6145019158715388,-1.615511384538668,-1.5708175614735165,-0.4111621682424692],"joint_velocity_rad_s":[-0.004320576025274928,0.006423473918707529,0.10759156985278814,-0.11336756292716976,3.1391911628455563e-05,-0.004253343041924046],"linkage_position_rad":[0.002940943564717608,0.00015668534123610748,0.003200649231466354,-0.0034371657682096034,0.002940810055047736,0.00015625342813440683,0.0032025556602064296,-0.0034464649215561506],"tcp_position_m":[0.07385977789907436,0.5046517890009699,0.3144346897315332],"tcp_quaternion_wxyz":[0.00010000739472469024,0.7071081875914097,0.7071053317199049,-0.00022559475937025396],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,1.8325507573670082e-17,2.103412984283046e-17,-1.2610193413961133e-07],"object_linear_velocity_m_s":[-2.5673040199875198e-17,2.4269620217154994e-17,1.1887180170623654e-14],"object_angular_velocity_rad_s":[5.863048815329114e-16,1.7476689466142787e-16,-1.7492752288875316e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313476497338875,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828014737385078,-1.5787642919100877,1.6251994292342384,-1.6428921247602646,-1.5708065346808584,-0.4120042885137222,0.0],"actuator_force":[0.05036110287619522,-21.510415316643957,-21.641601215716037,-2.353613818081385,0.0023742051661201913,0.004274168565899572,-0.29413916519756306],"issued_joint_targets_rad":[-1.9828037644003687,-1.5682261587817539,1.6356243806591255,-1.6380892850246909,-1.5708066159008744,-0.41200550034967326],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.800000000000562,"joint_targets_rad":[-1.9828037644003687,-1.5682261587817539,1.6356243806591255,-1.6380892850246909,-1.5708066159008744,-0.41200550034967326],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.820000000000551,"qpos":[-1.982044358173785,-1.569169716184185,1.6165398926072965,-1.6176651007111602,-1.5708168521901087,-0.4112429967575575,0.0029409557019605434,0.00015664793182402825,0.003200680454007421,-0.0034370872700564513,0.0029408350310029465,0.0001562578019559939,0.003202822587347859,-0.003446329805238359,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,7.395503331314056e-18,2.3317090155697057e-17,-1.2638456426141095e-07],"qvel":[-0.0039053730099229025,0.005892077764442318,0.09705792534711125,-0.10264854826146957,3.5061917396537116e-05,-0.0038512244616445888,-2.9322434717037598e-06,-1.7722230640407613e-06,-3.5787149204307737e-07,8.067142326549818e-06,-2.2897861769657233e-06,3.056832150044491e-07,1.0214425473276166e-05,9.45935150978823e-06,-4.890382916995421e-17,-7.758983724428698e-18,1.1949630215758816e-14,-3.3363633728308493e-15,1.5976203802880895e-15,-7.031537524446352e-08],"joint_position_rad":[-1.982044358173785,-1.569169716184185,1.6165398926072965,-1.6176651007111602,-1.5708168521901087,-0.4112429967575575],"joint_velocity_rad_s":[-0.0039053730099229025,0.005892077764442318,0.09705792534711125,-0.10264854826146957,3.5061917396537116e-05,-0.0038512244616445888],"linkage_position_rad":[0.0029409557019605434,0.00015664793182402825,0.003200680454007421,-0.0034370872700564513,0.0029408350310029465,0.0001562578019559939,0.003202822587347859,-0.003446329805238359],"tcp_position_m":[0.07390545075293191,0.5046562480102893,0.31358716441875073],"tcp_quaternion_wxyz":[0.00010117997850986834,0.7071085371139397,0.7071049807377568,-0.00022960629793019376],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,7.395503331314056e-18,2.3317090155697057e-17,-1.2638456426141095e-07],"object_linear_velocity_m_s":[-4.890382916995421e-17,-7.758983724428698e-18,1.1949630215758816e-14],"object_angular_velocity_rad_s":[-3.336362972280733e-15,1.5976212246577368e-15,-7.031537524446354e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313473383316564,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982802720083878,-1.578722272364608,1.6251668621853894,-1.642912990762863,-1.5708054358614463,-0.41200550152893756,0.0],"actuator_force":[0.04542538378291283,-21.46194346662287,-21.56923098265861,-2.3590901997044966,0.002201972591478807,0.0038700604744121847,-0.29406342649993117],"issued_joint_targets_rad":[-1.9828046808934428,-1.5681919969912066,1.6355986006359637,-1.6381077612642663,-1.5708056229163472,-0.4120066006600907],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.820000000000551,"joint_targets_rad":[-1.9828046808934428,-1.5681919969912066,1.6355986006359637,-1.6381077612642663,-1.5708056229163472,-0.4120066006600907],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.84000000000054,"qpos":[-1.9821183332494594,-1.5690563136041233,1.6183787447909292,-1.6196151823584755,-1.570816083201343,-0.4113161837732276,0.0029408352863162703,0.0001566141782757447,0.003200576684577799,-0.0034368919283247236,0.002940726216532105,0.0001562617536129751,0.0032029318795157055,-0.003446083183420887,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-4.878662535193539e-18,2.3150556175152858e-17,-1.2665117883141292e-07],"qvel":[-0.003529855282624005,0.005382276107821985,0.08757543224951997,-0.09294204829914472,3.775548462727285e-05,-0.0034871315593432723,-8.591384042163035e-06,-1.5908313316697984e-06,-6.452506178006546e-06,1.280784468502887e-05,-8.019774653057445e-06,2.60842453125881e-07,3.089335984400198e-06,1.4181960757945704e-05,-2.603974003205129e-17,-2.3323284899974774e-18,1.1964895782347416e-14,-3.249155776792252e-16,-6.315334257965138e-16,-7.609349275517577e-09],"joint_position_rad":[-1.9821183332494594,-1.5690563136041233,1.6183787447909292,-1.6196151823584755,-1.570816083201343,-0.4113161837732276],"joint_velocity_rad_s":[-0.003529855282624005,0.005382276107821985,0.08757543224951997,-0.09294204829914472,3.775548462727285e-05,-0.0034871315593432723],"linkage_position_rad":[0.0029408352863162703,0.0001566141782757447,0.003200576684577799,-0.0034368919283247236,0.002940726216532105,0.0001562617536129751,0.0032029318795157055,-0.003446083183420887],"tcp_position_m":[0.07394686265411589,0.5046606251546689,0.31282247670720453],"tcp_quaternion_wxyz":[0.00010120222420329708,0.7071088156047354,0.7071047018648569,-0.0002307656591442188],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-4.878662535193539e-18,2.3150556175152858e-17,-1.2665117883141292e-07],"object_linear_velocity_m_s":[-2.603974003205129e-17,-2.3323284899974774e-18,1.1964895782347416e-14],"object_angular_velocity_rad_s":[-3.24915738000442e-16,-6.315333435688589e-16,-7.60934927551758e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313471786222734,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828038293191146,-1.5786889127828532,1.6251418961477038,-1.6429317077235928,-1.5708044399953158,-0.41200660174275905,0.0],"actuator_force":[0.04094997373931619,-21.41810880058847,-21.50387018625861,-2.364057852644123,0.0020460545508740324,0.0035041711685721566,-0.2939950193489427],"issued_joint_targets_rad":[-1.982805512150378,-1.5681648281844223,1.6355788998885208,-1.6381243408521324,-1.5708047241211052,-0.412007598244943],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.84000000000054,"joint_targets_rad":[-1.982805512150378,-1.5681648281844223,1.6355788998885208,-1.6381243408521324,-1.5708047241211052,-0.412007598244943],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.860000000000529,"qpos":[-1.982185210660022,-1.5689530379819803,1.62003826956401,-1.6213808629025763,-1.5708152723175526,-0.4113824518423898,0.0029406189367180333,0.00015658372198843222,0.0032003748891253295,-0.0034366135986620273,0.002940520350345154,0.00015626532867216665,0.003202922697110072,-0.003445758407376564,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-4.038101587709674e-17,2.3924675286959863e-17,-1.2703397045113342e-07],"qvel":[-0.0031902765055979118,0.004898763826429524,0.07903556951363773,-0.08415252086944967,3.9620074355718465e-05,-0.003157465830429178,-1.262682694242667e-05,-1.4288615012749676e-06,-1.084631406114586e-05,1.6090281502867075e-05,-1.2117517269066513e-05,2.2341080433232995e-07,-2.231551889016748e-06,1.7427311087895452e-05,-3.264221558294167e-17,-5.5169985032360246e-17,1.2012080260893983e-14,-2.189702895797783e-15,-1.2229495451095513e-16,-3.05871963907338e-08],"joint_position_rad":[-1.982185210660022,-1.5689530379819803,1.62003826956401,-1.6213808629025763,-1.5708152723175526,-0.4113824518423898],"joint_velocity_rad_s":[-0.0031902765055979118,0.004898763826429524,0.07903556951363773,-0.08415252086944967,3.9620074355718465e-05,-0.003157465830429178],"linkage_position_rad":[0.0029406189367180333,0.00015658372198843222,0.0032003748891253295,-0.0034366135986620273,0.002940520350345154,0.00015626532867216665,0.003202922697110072,-0.003445758407376564],"tcp_position_m":[0.0739844023163928,0.5046648830743593,0.3121325386893897],"tcp_quaternion_wxyz":[0.00010028331187909421,0.7071090313790516,0.7071044866060863,-0.00022958000512609834],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-4.038101587709674e-17,2.3924675286959863e-17,-1.2703397045113342e-07],"object_linear_velocity_m_s":[-3.264221558294167e-17,-5.5169985032360246e-17,1.2012080260893983e-14],"object_angular_velocity_rad_s":[-2.1897029283325188e-15,-1.2229440064792926e-16,-3.058719639073382e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313471338853291,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828048177444042,-1.5786625247305421,1.6251229627029569,-1.6429484981877474,-1.5708035382458099,-0.41200759924286834,0.0],"actuator_force":[0.03689643347479432,-21.378479027695448,-21.444841527561493,-2.3685655556405436,0.0019050284357717828,0.0031728828036250434,-0.29393324263210197],"issued_joint_targets_rad":[-1.9828062657787275,-1.5681432969891471,1.6355640206647604,-1.6381392196924984,-1.5708039111802912,-0.4120085023795594],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.860000000000529,"joint_targets_rad":[-1.9828062657787275,-1.5681432969891471,1.6355640206647604,-1.6381392196924984,-1.5708039111802912,-0.4120085023795594],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.880000000000518,"qpos":[-1.9822456669201673,-1.5688592913793746,1.6215362335181447,-1.6229795615966947,-1.5708144345655397,-0.4114424551529947,0.0029403354322145776,0.00015655623969360226,0.00320010413872614,-0.003436278787498392,0.0029402463195319726,0.00015626856670804054,0.0032028260888673117,-0.003445381527028674,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-3.3864500450848534e-17,1.644521713266266e-17,-1.2714994782002217e-07],"qvel":[-0.0028832345867051603,0.004444405800829195,0.07134167572969075,-0.07619343986359174,4.0785542190891044e-05,-0.002858969954903619,-1.5389916046218885e-05,-1.2840642894936977e-06,-1.3904745693247091e-05,1.8235814498432066e-05,-1.4935518494471836e-05,1.9206385541609985e-07,-6.124761477083466e-06,1.952233035868109e-05,-2.080233032423317e-17,-3.9831515108597874e-17,1.2045386951632737e-14,1.98587075398852e-15,-9.24279261668784e-16,-3.3100678178386243e-09],"joint_position_rad":[-1.9822456669201673,-1.5688592913793746,1.6215362335181447,-1.6229795615966947,-1.5708144345655397,-0.4114424551529947],"joint_velocity_rad_s":[-0.0028832345867051603,0.004444405800829195,0.07134167572969075,-0.07619343986359174,4.0785542190891044e-05,-0.002858969954903619],"linkage_position_rad":[0.0029403354322145776,0.00015655623969360226,0.00320010413872614,-0.003436278787498392,0.0029402463195319726,0.00015626856670804054,0.0032028260888673117,-0.003445381527028674],"tcp_position_m":[0.07401842472229751,0.504668994535034,0.31151005036846824],"tcp_quaternion_wxyz":[9.860318213334942e-05,0.7071091922338377,0.707104326984147,-0.00022648646253110042],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-3.3864500450848534e-17,1.644521713266266e-17,-1.2714994782002217e-07],"object_linear_velocity_m_s":[-2.080233032423317e-17,-3.9831515108597874e-17,1.2045386951632737e-14],"object_angular_velocity_rad_s":[1.9858705188354677e-15,-9.242797668996677e-16,-3.3100678178386264e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313471749387611,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982805699532945,-1.578641740158787,1.6251088022805418,-1.6429635637435338,-1.5708027223155505,-0.41200850330243305,0.0],"actuator_force":[0.03322860912703618,-21.3426598791566,-21.391532767082026,-2.3726570870604746,0.001777570775516324,0.0028729207712103744,-0.29387746041462404],"issued_joint_targets_rad":[-1.9828069487774984,-1.56812630411573,1.6355529528703758,-1.6381525749419832,-1.570803176330483,-0.41200932157238834],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.880000000000518,"joint_targets_rad":[-1.9828069487774984,-1.56812630411573,1.6355529528703758,-1.6381525749419832,-1.570803176330483,-0.41200932157238834],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.900000000000507,"qpos":[-1.982300315011899,-1.5687744412820908,1.6228885922437446,-1.6244270544906656,-1.5708135825332021,-0.4114967860072531,0.0029400072452300382,0.0001565314400037607,0.0031997871521304818,-0.0034359080977221903,0.002939926694015513,0.00015627150233103683,0.003202666556608757,-0.0034449727320442925,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-5.941318311130601e-17,-5.541722463204868e-18,-1.276161404510393e-07],"qvel":[-0.002605641924432633,0.00402067971163554,0.06440753700163893,-0.06898643944805577,4.136574198177827e-05,-0.0025886953144311827,-1.7163007660957905e-05,-1.1544837534274458e-06,-1.592162481701364e-05,1.9502281706606725e-05,-1.6757116001311457e-05,1.6572641173856982e-07,-8.893836575863518e-06,2.0729212306538395e-05,4.505297421037377e-18,-7.19082954146317e-17,1.2053713624317428e-14,1.4066883166100508e-15,-4.448067056295902e-16,-1.3305433979302927e-08],"joint_position_rad":[-1.982300315011899,-1.5687744412820908,1.6228885922437446,-1.6244270544906656,-1.5708135825332021,-0.4114967860072531],"joint_velocity_rad_s":[-0.002605641924432633,0.00402067971163554,0.06440753700163893,-0.06898643944805577,4.136574198177827e-05,-0.0025886953144311827],"linkage_position_rad":[0.0029400072452300382,0.0001565314400037607,0.0031997871521304818,-0.0034359080977221903,0.002939926694015513,0.00015627150233103683,0.003202666556608757,-0.0034449727320442925],"tcp_position_m":[0.07404925370713002,0.5046729404191849,0.3109484232338592],"tcp_quaternion_wxyz":[9.631614649071075e-05,0.7071093053904265,0.7071042156085023,-0.00022186065988465182],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-5.941318311130601e-17,-5.541722463204868e-18,-1.276161404510393e-07],"object_linear_velocity_m_s":[4.505297421037377e-18,-7.19082954146317e-17,1.2053713624317428e-14],"object_angular_velocity_rad_s":[1.406688203228446e-15,-4.4480706624288e-16,-1.3305433979302935e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313472786904817,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828064870376345,-1.5786254514746285,1.6250984043531995,-1.64297708599084,-1.5708019844726266,-0.41200932242818916,0.0],"actuator_force":[0.02991271830160258,-21.31029226972987,-21.343390581745552,-2.3763718052815648,0.0016624560896616458,0.0026013209750885835,-0.29382709634396625],"issued_joint_targets_rad":[-1.9828075675713495,-1.5681129585937286,1.635544886192704,-1.6381645660760416,-1.5708025123847986,-0.41201006361377757],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.900000000000507,"joint_targets_rad":[-1.9828075675713495,-1.5681129585937286,1.635544886192704,-1.6381645660760416,-1.5708025123847986,-0.41201006361377757],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.920000000000496,"qpos":[-1.9823497101626546,-1.5686978431267322,1.6241096841390708,-1.6257376292383914,-1.5708127266801646,-0.41154598068446646,0.0029396517869392505,0.00015650906024229107,0.003199441549054024,-0.0034355174021077238,0.0029395789729842,0.0001562741659759621,0.003202463328433048,-0.003444547521127722,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-4.436869711980279e-17,-9.287662115422835e-18,-1.2792719058096328e-07],"qvel":[-0.002354697824477926,0.003628025773054372,0.05815616270444129,-0.06246054173171614,4.146008027063042e-05,-0.002343972625896578,-1.8172441344941335e-05,-1.038413561099501e-06,-1.7132619807438065e-05,2.0095967569608934e-05,-1.7809482605741108e-05,1.4352333427781397e-07,-1.078301438545707e-05,2.1257626268350188e-05,1.457773041964849e-17,-7.201097518781633e-17,1.170815670790285e-14,9.54654262423282e-16,-6.280662965450388e-16,-5.3483669556127047e-08],"joint_position_rad":[-1.9823497101626546,-1.5686978431267322,1.6241096841390708,-1.6257376292383914,-1.5708127266801646,-0.41154598068446646],"joint_velocity_rad_s":[-0.002354697824477926,0.003628025773054372,0.05815616270444129,-0.06246054173171614,4.146008027063042e-05,-0.002343972625896578],"linkage_position_rad":[0.0029396517869392505,0.00015650906024229107,0.003199441549054024,-0.0034355174021077238,0.0029395789729842,0.0001562741659759621,0.003202463328433048,-0.003444547521127722],"tcp_position_m":[0.07407718441628712,0.5046767080868189,0.3104417111889338],"tcp_quaternion_wxyz":[9.355408998586635e-05,0.7071093774677357,0.7071041457086191,-0.00021602431916299743],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-4.436869711980279e-17,-9.287662115422835e-18,-1.2792719058096328e-07],"object_linear_velocity_m_s":[1.457773041964849e-17,-7.201097518781633e-17,1.170815670790285e-14],"object_angular_velocity_rad_s":[9.546541027232138e-16,-6.280665455434959e-16,-5.348366955612709e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.093134742695916,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98280719104892,-1.5786127627334434,1.625090959199603,-1.6429892278776137,-1.5708013175564108,-0.41201006440912813,0.0],"actuator_force":[0.026917357260572317,-21.28104952264357,-21.299914960712158,-2.379745146439518,0.0015585538498044116,0.002355400258835516,-0.29378162837641913],"issued_joint_targets_rad":[-1.9828081280458159,-1.5681025388557035,1.6355391714548415,-1.6381753361858582,-1.5708019127234563,-0.4120107356245827],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.920000000000496,"joint_targets_rad":[-1.9828081280458159,-1.5681025388557035,1.6355391714548415,-1.6381753361858582,-1.5708019127234563,-0.4120107356245827],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.940000000000484,"qpos":[-1.982394355134765,-1.5686288569053932,1.6252124018395857,-1.6269242253028793,-1.5708118756162406,-0.411590524746542,0.0029392824176997117,0.0001564888635871063,0.0031990808670612336,-0.003435118794679664,0.0029392165962669075,0.00015627658453062633,0.003202231393298718,-0.0034441176496309853,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-2.866591267674918e-17,-8.282765983057385e-18,-1.281299844295527e-07],"qvel":[-0.0021278630374016536,0.003266121867001917,0.05251872096845184,-0.056551458972415744,4.115499309784916e-05,-0.0021223853891867137,-1.8599124475052386e-05,-9.343599632811832e-07,-1.7726234833380642e-05,2.0181371766884966e-05,-1.827423603928791e-05,1.2474084416369352e-07,-1.198838328907905e-05,2.1274675837259627e-05,9.974121134428322e-18,-3.8993210716852814e-17,1.1314027534160921e-14,1.7456467655709774e-15,3.4943861942972123e-16,-5.787865324959604e-09],"joint_position_rad":[-1.982394355134765,-1.5686288569053932,1.6252124018395857,-1.6269242253028793,-1.5708118756162406,-0.411590524746542],"joint_velocity_rad_s":[-0.0021278630374016536,0.003266121867001917,0.05251872096845184,-0.056551458972415744,4.115499309784916e-05,-0.0021223853891867137],"linkage_position_rad":[0.0029392824176997117,0.0001564888635871063,0.0031990808670612336,-0.003435118794679664,0.0029392165962669075,0.00015627658453062633,0.003202231393298718,-0.0034441176496309853],"tcp_position_m":[0.07410248562528722,0.5046802900384096,0.30998454813465803],"tcp_quaternion_wxyz":[9.042930760836749e-05,0.7071094144779494,0.707104111141205,-0.00020925199476215238],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-2.866591267674918e-17,-8.282765983057385e-18,-1.281299844295527e-07],"object_linear_velocity_m_s":[9.974121134428322e-18,-3.8993210716852814e-17,1.1314027534160921e-14],"object_angular_velocity_rad_s":[1.7456468552139303e-15,3.4943817175849535e-16,-5.787865324959609e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313476055155653,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828078210123823,-1.5786029498977738,1.6250858189745423,-1.6430001352092758,-1.570800714968758,-0.4120107363650317,0.0],"actuator_force":[0.02421345972607014,-21.25463473156242,-21.260654117467766,-2.382809055956727,0.0014648244314230396,0.0021327296738320456,-0.29374058389575924],"issued_joint_targets_rad":[-1.9828086355828392,-1.5680944610353909,1.6355352894063728,-1.6381850133678963,-1.5708013712742337,-0.41201134410395307],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.940000000000484,"joint_targets_rad":[-1.9828086355828392,-1.5680944610353909,1.6355352894063728,-1.6381850133678963,-1.5708013712742337,-0.41201134410395307],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.960000000000473,"qpos":[-1.9824347050601923,-1.5685668591306219,1.6262083441336939,-1.627998560953908,-1.570811036349868,-0.41163085783953807,0.002938909265883751,0.00015647063650239292,0.0031987153856476184,-0.0034347213610535572,0.0029388497640087516,0.00015627878184799608,0.0032019823408740346,-0.0034436918965372234,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-2.990581434867917e-17,-4.652725223150083e-18,-1.285658373247641e-07],"qvel":[-0.0019228363188903553,0.0029340989108944857,0.04743361041000707,-0.05120096261096496,4.052532987512986e-05,-0.0019217458764122137,-1.858716407387268e-05,-8.410111896981023e-07,-1.785276990825647e-05,1.9889172622862357e-05,-1.8296091222137573e-05,1.0879581891867664e-07,-1.2666978181041323e-05,2.0913021955908294e-05,2.8222645133185806e-18,-4.137099904806245e-17,1.1257128604148882e-14,6.267673389603655e-16,-7.383542580312503e-17,-2.3265402463158177e-08],"joint_position_rad":[-1.9824347050601923,-1.5685668591306219,1.6262083441336939,-1.627998560953908,-1.570811036349868,-0.41163085783953807],"joint_velocity_rad_s":[-0.0019228363188903553,0.0029340989108944857,0.04743361041000707,-0.05120096261096496,4.052532987512986e-05,-0.0019217458764122137],"linkage_position_rad":[0.002938909265883751,0.00015647063650239292,0.0031987153856476184,-0.0034347213610535572,0.0029388497640087516,0.00015627878184799608,0.0032019823408740346,-0.0034436918965372234],"tcp_position_m":[0.07412540191724942,0.5046836828253234,0.30957209157660887],"tcp_quaternion_wxyz":[8.703701290012162e-05,0.7071094218384392,0.7071041063788902,-0.0002017770461636065],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-2.990581434867917e-17,-4.652725223150083e-18,-1.285658373247641e-07],"object_linear_velocity_m_s":[2.8222645133185806e-18,-4.137099904806245e-17,1.1257128604148882e-14],"object_angular_velocity_rad_s":[6.267673201914136e-16,-7.383558835639979e-17,-2.3265402463158197e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313478033039652,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982808385212966,-1.5785954284865018,1.6250824662776848,-1.6430099382054513,-1.570800170655041,-0.4120113447941985,0.0],"actuator_force":[0.021774222008389188,-21.23077827611769,-21.22519987602118,-2.385592364675176,0.0013803144258872635,0.00193111031103399,-0.29370353521814513],"issued_joint_targets_rad":[-1.9828090950959993,-1.568088253148477,1.6355328255118413,-1.6381937121179735,-1.5708008824862303,-0.4120118949757429],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.960000000000473,"joint_targets_rad":[-1.9828090950959993,-1.568088253148477,1.6355328255118413,-1.6381937121179735,-1.5708008824862303,-0.4120118949757429],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.980000000000462,"qpos":[-1.9824711718537447,-1.5685112511863637,1.627107950817868,-1.6289712483129748,-1.5708102145087994,-0.41166737803942133,0.002938539890551374,0.00015645418643054962,0.0031983527932008104,-0.0034343318013092634,0.002938486100100057,0.0001562807791660275,0.003201725042577844,-0.0034432766842737036,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-1.9703917385835522e-17,4.2356497594749936e-19,-1.287504053325299e-07],"qvel":[-0.001737532901279079,0.0026307084363718894,0.0428456484835346,-0.04635631238060003,3.9635636093430325e-05,-0.001740073416408752,-1.8250901721771087e-05,-7.57211960409399e-07,-1.7631620730462156e-05,1.93227190404396e-05,-1.7989911882420905e-05,9.521088234304399e-08,-1.2944192707871443e-05,2.027749932522736e-05,-3.5783756741829304e-17,-4.621654197089474e-17,1.1201617452917624e-14,4.541447652376264e-16,3.99675994440972e-15,-9.35196175761795e-08],"joint_position_rad":[-1.9824711718537447,-1.5685112511863637,1.627107950817868,-1.6289712483129748,-1.5708102145087994,-0.41166737803942133],"joint_velocity_rad_s":[-0.001737532901279079,0.0026307084363718894,0.0428456484835346,-0.04635631238060003,3.9635636093430325e-05,-0.001740073416408752],"linkage_position_rad":[0.002938539890551374,0.00015645418643054962,0.0031983527932008104,-0.0034343318013092634,0.002938486100100057,0.0001562807791660275,0.003201725042577844,-0.0034432766842737036],"tcp_position_m":[0.07414615571656101,0.504686886162977,0.3091999716813857],"tcp_quaternion_wxyz":[8.345755350799795e-05,0.7071094043950754,0.7071041264860716,-0.00019379692332340315],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-1.9703917385835522e-17,4.2356497594749936e-19,-1.287504053325299e-07],"object_linear_velocity_m_s":[-3.5783756741829304e-17,-4.621654197089474e-17,1.1201617452917624e-14],"object_angular_velocity_rad_s":[4.541457943273137e-16,3.99675982378154e-15,-9.351961757617961e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313480118104007,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828088909314674,-1.5785897272475782,1.6250804887696109,-1.6430187530254197,-1.570799679078429,-0.4120118956198075,0.0],"actuator_force":[0.019575005066144513,-21.20923549697727,-21.193183489928742,-2.3881211181625304,0.001304151575823198,0.0017485514478039477,-0.2936700954645506],"issued_joint_targets_rad":[-1.9828095110649555,-1.5680835340696142,1.6355314495806024,-1.638201534675588,-1.5708004412995031,-0.41201239363313014],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.980000000000462,"joint_targets_rad":[-1.9828095110649555,-1.5680835340696142,1.6355314495806024,-1.638201534675588,-1.5708004412995031,-0.41201239363313014],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.000000000000451,"qpos":[-1.9825041282367766,-1.5684614648834536,1.6279206225977128,-1.6298518975762737,-1.5708094145353784,-0.4117004457855543,0.002938179816930355,0.00015643933971563496,0.003197998725993801,-0.003433954932790225,0.0029381311883354237,0.00015628259545578347,0.0032014662031711206,-0.003442876578767978,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-1.27998949277263e-17,1.2902797330787261e-17,-1.2910500334953736e-07],"qvel":[-0.001570064759434584,0.002354452047346825,0.038705359994203645,-0.04196973953450603,3.854133162934704e-05,-0.0015755747525673894,-1.768064288553968e-05,-6.819422931084596e-07,-1.715722167895692e-05,1.8563314349077565e-05,-1.7446453543473616e-05,8.359461650078361e-08,-1.2919815601667588e-05,1.9450505647377463e-05,-1.3551307097751429e-17,-1.804472301952442e-17,1.1101697380701359e-14,5.724932177448554e-16,5.559802449717844e-17,-1.0120452771188648e-08],"joint_position_rad":[-1.9825041282367766,-1.5684614648834536,1.6279206225977128,-1.6298518975762737,-1.5708094145353784,-0.4117004457855543],"joint_velocity_rad_s":[-0.001570064759434584,0.002354452047346825,0.038705359994203645,-0.04196973953450603,3.854133162934704e-05,-0.0015755747525673894],"linkage_position_rad":[0.002938179816930355,0.00015643933971563496,0.003197998725993801,-0.003433954932790225,0.0029381311883354237,0.00015628259545578347,0.0032014662031711206,-0.003442876578767978],"tcp_position_m":[0.07416494918039866,0.5046899022101146,0.30886424526188516],"tcp_quaternion_wxyz":[7.975836522327512e-05,0.7071093664531605,0.7071041670862817,-0.0001854778368343048],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-1.27998949277263e-17,1.2902797330787261e-17,-1.2910500334953736e-07],"object_linear_velocity_m_s":[-1.3551307097751429e-17,-1.804472301952442e-17,1.1101697380701359e-14],"object_angular_velocity_rad_s":[5.724932318396389e-16,5.559787641461763e-17,-1.012045277118866e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313482245506999,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828093445778532,-1.5785854667396348,1.6250795586687459,-1.643026683215531,-1.5707992351899904,-0.41201239423449976,0.0],"actuator_force":[0.017593221620700206,-21.18978453130103,-21.16427185561497,-2.390418866178038,0.0012355395310805761,0.0015832507840229937,-0.2936399147811439],"issued_joint_targets_rad":[-1.9828098875687141,-1.568079996419428,1.635530899307381,-1.6382085722872157,-1.570800043112493,-0.4120128449811342],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.000000000000451,"joint_targets_rad":[-1.9828098875687141,-1.568079996419428,1.635530899307381,-1.6382085722872157,-1.570800043112493,-0.4120128449811342],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.02000000000044,"qpos":[-1.9825339114019536,-1.5684169658711336,1.6286548278498982,-1.6306492114363549,-1.5708086398586854,-0.4117303874412333,0.002937832968372272,0.00015642593973581233,0.003197657203031374,-0.003433594095229285,0.0029377890049801544,0.00015628424771123894,0.003201210806892413,-0.003442494692077249,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,2.423232408446355e-18,2.2255070337935695e-17,-1.294867068405842e-07],"qvel":[-0.0014187225523865125,0.0021036805539339848,0.03496835191367622,-0.037997978903978394,3.7289785032939196e-05,-0.001426626273826485,-1.6947319284362514e-05,-6.142995093423747e-07,-1.6503881442639412e-05,1.7674517789277228e-05,-1.6737037160899062e-05,7.362530803612587e-08,-1.2672945246280745e-05,1.849638279447363e-05,-3.57009428510538e-17,2.7248241058697416e-18,1.1108636274605262e-14,1.4116886900962094e-15,7.204106170896396e-16,-4.068104449765026e-08],"joint_position_rad":[-1.9825339114019536,-1.5684169658711336,1.6286548278498982,-1.6306492114363549,-1.5708086398586854,-0.4117303874412333],"joint_velocity_rad_s":[-0.0014187225523865125,0.0021036805539339848,0.03496835191367622,-0.037997978903978394,3.7289785032939196e-05,-0.001426626273826485],"linkage_position_rad":[0.002937832968372272,0.00015642593973581233,0.003197657203031374,-0.003433594095229285,0.0029377890049801544,0.00015628424771123894,0.003201210806892413,-0.003442494692077249],"tcp_position_m":[0.07418196595188174,0.5046927349842352,0.30856135421955244],"tcp_quaternion_wxyz":[7.599569299820844e-05,0.7071093118131174,0.7071042243243838,-0.0001769588783593033],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,2.423232408446355e-18,2.2255070337935695e-17,-1.294867068405842e-07],"object_linear_velocity_m_s":[-3.57009428510538e-17,2.7248241058697416e-18,1.1108636274605262e-14],"object_angular_velocity_rad_s":[1.4116888748526416e-15,7.204102516969367e-16,-4.068104449765031e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313484366560723,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828097518051615,-1.5785823419133678,1.6250794161904478,-1.6430338210532514,-1.5707988343965333,-0.41201284554286616,0.0],"actuator_force":[0.015808214538992615,-21.172224306042153,-21.13816408437151,-2.392506918050458,0.0011737525727539833,0.0014335765661996902,-0.293612676885395],"issued_joint_targets_rad":[-1.98281022831745,-1.5680773926385354,1.6355309669735056,-1.6382149063725384,-1.5707996837486584,-0.4120132534768289],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.02000000000044,"joint_targets_rad":[-1.98281022831745,-1.5680773926385354,1.6355309669735056,-1.6382149063725384,-1.5707996837486584,-0.4120132534768289],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.040000000000429,"qpos":[-1.9825608263480214,-1.5683772554214868,1.6293181978135238,-1.6313710706249032,-1.5708078930457792,-0.4117574985168045,0.002937502014116072,0.00015641384522163448,0.0031973309761990213,-0.0034332514764704104,0.0029374622670832774,0.00015628575119335504,0.003200962477739309,-0.003442133005865989,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,6.482926877170642e-18,1.8317583708966332e-17,-1.2964095701913002e-07],"qvel":[-0.0012819591231566186,0.0018766690614394554,0.03159476279149008,-0.03440184507079168,3.5921286714603716e-05,-0.001291757938324199,-1.610627970285863e-05,-5.534831446955407e-07,-1.572971363171445e-05,1.670563711623663e-05,-1.5917349215994697e-05,6.5038109672631e-08,-1.2265987122605109e-05,1.7464979729148443e-05,-2.118006425407675e-17,4.6059715399121094e-18,1.1075329583866506e-14,-1.588673631258787e-16,-7.05995021775703e-16,-4.40239812984376e-09],"joint_position_rad":[-1.9825608263480214,-1.5683772554214868,1.6293181978135238,-1.6313710706249032,-1.5708078930457792,-0.4117574985168045],"joint_velocity_rad_s":[-0.0012819591231566186,0.0018766690614394554,0.03159476279149008,-0.03440184507079168,3.5921286714603716e-05,-0.001291757938324199],"linkage_position_rad":[0.002937502014116072,0.00015641384522163448,0.0031973309761990213,-0.0034332514764704104,0.0029374622670832774,0.00015628575119335504,0.003200962477739309,-0.003442133005865989],"tcp_position_m":[0.07419737278011752,0.504695389888624,0.30828808801604957],"tcp_quaternion_wxyz":[7.221610462163612e-05,0.707109243808735,0.7071042948260517,-0.00016835565064635607],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,6.482926877170642e-18,1.8317583708966332e-17,-1.2964095701913002e-07],"object_linear_velocity_m_s":[-2.118006425407675e-17,4.6059715399121094e-18,1.1075329583866506e-14],"object_angular_velocity_rad_s":[-1.5886754633889671e-16,-7.059949805271653e-16,-4.402398129843766e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486445381526,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828101176070758,-1.578580107951289,1.625079856171721,-1.6430402487765066,-1.570798472527613,-0.4120132540016364,0.0],"actuator_force":[0.014201131153640745,-21.15637268418004,-21.114588400201228,-2.394404568722507,0.0011181304115552848,0.001298051416455337,-0.2935880959153732],"issued_joint_targets_rad":[-1.9828105366826865,-1.568075523658807,1.6355314887037165,-1.6382206095875869,-1.5707993594233176,-0.4120136231671184],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.040000000000429,"joint_targets_rad":[-1.9828105366826865,-1.568075523658807,1.6355314887037165,-1.6382206095875869,-1.5707993594233176,-0.4120136231671184],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.060000000000418,"qpos":[-1.9825851489118282,-1.5683418709954084,1.6299176115706522,-1.6320246114110348,-1.5708071759341296,-0.41178204658746936,0.0029371886486436495,0.0001564029287430355,0.0031970218115946604,-0.003432928373715234,0.0029371527123280023,0.0001562871196364062,0.0032007237699032977,-0.0034417926306174536,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,1.117302636287988e-18,2.6951353748448282e-17,-1.3006910954061615e-07],"qvel":[-0.0011583744420499784,0.0016716730641824229,0.02854877683650911,-0.031145848430606186,3.446992569261536e-05,-0.0011696387268573453,-1.5200369194132929e-05,-4.987821141680975e-07,-1.4879829619934729e-05,1.5694567666034712e-05,-1.503052863122534e-05,5.761446280728337e-08,-1.1747903616093427e-05,1.63945430418989e-05,-3.588422736544837e-17,3.8254540958180364e-19,1.1032308441662287e-14,-2.597443051973263e-16,-3.9188078985956365e-16,-1.7696259077103128e-08],"joint_position_rad":[-1.9825851489118282,-1.5683418709954084,1.6299176115706522,-1.6320246114110348,-1.5708071759341296,-0.41178204658746936],"joint_velocity_rad_s":[-0.0011583744420499784,0.0016716730641824229,0.02854877683650911,-0.031145848430606186,3.446992569261536e-05,-0.0011696387268573453],"linkage_position_rad":[0.0029371886486436495,0.0001564029287430355,0.0031970218115946604,-0.003432928373715234,0.0029371527123280023,0.0001562871196364062,0.0032007237699032977,-0.0034417926306174536],"tcp_position_m":[0.07421132101339847,0.5046978733308396,0.30804154978704873],"tcp_quaternion_wxyz":[6.845782015705403e-05,0.7071091653463493,0.7071043756563467,-0.00015976346074417967],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,1.117302636287988e-18,2.6951353748448282e-17,-1.3006910954061615e-07],"object_linear_velocity_m_s":[-3.588422736544837e-17,3.8254540958180364e-19,1.1032308441662287e-14],"object_angular_velocity_rad_s":[-2.597444080943649e-16,-3.9188072225058574e-16,-1.769625907710315e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313488456187148,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828104464017238,-1.5785785687612455,1.625080717271231,-1.6430460396960267,-1.5707981458027038,-0.41201362365743677,0.0],"actuator_force":[0.01275479702917437,-21.142064757346816,-21.093299333445884,-2.3961292994353016,0.001068073143642323,0.001175337702051138,-0.2935659135594558],"issued_joint_targets_rad":[-1.9828108157257105,-1.5680742296908186,1.6355323357899536,-1.6382257467851271,-1.5707990667114209,-0.4120139577240422],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.060000000000418,"joint_targets_rad":[-1.9828108157257105,-1.5680742296908186,1.6355323357899536,-1.6382257467851271,-1.5707990667114209,-0.4120139577240422],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.080000000000407,"qpos":[-1.98260712852308,-1.5683103859117473,1.6304592719981077,-1.6326162958103956,-1.5708064897472112,-0.4118042739348079,0.0029368938155079852,0.00015639307534621598,0.003196730715000105,-0.003432625402481395,0.002936861323306036,0.00015628836542389156,0.0032004964014286956,-0.003441474012744407,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-4.109899528284785e-18,2.181376921744894e-17,-1.303550277183714e-07],"qvel":[-0.0010467018829855826,0.0014869695983564838,0.025798194225209715,-0.028197847354172596,3.2964375605968615e-05,-0.0010590634793354212,-1.4262427461528229e-05,-4.4956367952626556e-07,-1.3988929104533568e-05,1.4670091138684334e-05,-1.410967157256416e-05,5.117361903283902e-08,-1.1156854291625596e-05,1.531406014487064e-05,-3.2855324047752544e-17,-1.3354807692727567e-17,1.104341067190854e-14,-1.1164840065911642e-15,1.4772974782823157e-16,-7.113340867583933e-08],"joint_position_rad":[-1.98260712852308,-1.5683103859117473,1.6304592719981077,-1.6326162958103956,-1.5708064897472112,-0.4118042739348079],"joint_velocity_rad_s":[-0.0010467018829855826,0.0014869695983564838,0.025798194225209715,-0.028197847354172596,3.2964375605968615e-05,-0.0010590634793354212],"linkage_position_rad":[0.0029368938155079852,0.00015639307534621598,0.003196730715000105,-0.003432625402481395,0.002936861323306036,0.00015628836542389156,0.0032004964014286956,-0.003441474012744407],"tcp_position_m":[0.07422394797241784,0.504700192416148,0.30781912574747394],"tcp_quaternion_wxyz":[6.475187788807626e-05,0.7071090789437593,0.7071044642787065,-0.00015126012475442878],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-4.109899528284785e-18,2.181376921744894e-17,-1.303550277183714e-07],"object_linear_velocity_m_s":[-3.2855324047752544e-17,-1.3354807692727567e-17,1.104341067190854e-14],"object_angular_velocity_rad_s":[-1.1164839711798729e-15,1.4773003832213208e-16,-7.113340867583944e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490381119793,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982810742103817,-1.5785775676307336,1.6250818732518273,-1.643051259193974,-1.5707978507992661,-0.4120139581820798,0.0],"actuator_force":[0.011453591720055556,-21.129151277315486,-21.074075182644265,-2.3976969563721013,0.0010230364118797297,0.0010642242975791305,-0.2935458964455306],"issued_joint_targets_rad":[-1.9828110682241762,-1.568073382735164,1.6355334076872954,-1.6382303758765158,-1.5707988025167194,-0.4120142604775948],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.080000000000407,"joint_targets_rad":[-1.9828110682241762,-1.568073382735164,1.6355334076872954,-1.6382303758765158,-1.5707988025167194,-0.4120142604775948],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.100000000000396,"qpos":[-1.982626990705575,-1.5682824083715678,1.6309487737210515,-1.633151975189085,-1.5708058351950853,-0.41182439993826386,0.0029366178861415515,0.00015638418132629106,0.0031964581120601976,-0.003432342663183011,0.0029365885067283784,0.0001562894997396768,0.003200281441759714,-0.003441177099511505,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-6.380840305827868e-18,1.728998550501783e-17,-1.3062474402296266e-07],"qvel":[-0.0009457957276126516,0.0013208867027348801,0.023314050430404694,-0.02552873303089243,3.1428596403164706e-05,-0.0009589409816026864,-1.3317313508891827e-05,-4.052639314788954e-07,-1.3083399251099022e-05,1.3653739923224626e-05,-1.3179861463596159e-05,4.556573020216425e-08,-1.0522337973224655e-05,1.4245156562140919e-05,-2.0317663057435378e-17,-6.100100991436642e-18,1.0969858396527123e-14,2.0113747183499932e-16,-8.594962295124005e-16,-7.697874752011633e-09],"joint_position_rad":[-1.982626990705575,-1.5682824083715678,1.6309487737210515,-1.633151975189085,-1.5708058351950853,-0.41182439993826386],"joint_velocity_rad_s":[-0.0009457957276126516,0.0013208867027348801,0.023314050430404694,-0.02552873303089243,3.1428596403164706e-05,-0.0009589409816026864],"linkage_position_rad":[0.0029366178861415515,0.00015638418132629106,0.0031964581120601976,-0.003432342663183011,0.0029365885067283784,0.0001562894997396768,0.003200281441759714,-0.003441177099511505],"tcp_position_m":[0.07423537821071001,0.5047023547023229,0.3076184575707901],"tcp_quaternion_wxyz":[6.112315536503184e-05,0.7071089867680207,0.7071045585152478,-0.00014290842759780403],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-6.380840305827868e-18,1.728998550501783e-17,-1.3062474402296266e-07],"object_linear_velocity_m_s":[-2.0317663057435378e-17,-6.100100991436642e-18,1.0969858396527123e-14],"object_angular_velocity_rad_s":[2.0113724702585055e-16,-8.594962821576717e-16,-7.697874752011645e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313492208496454,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828110081869093,-1.5785769796401221,1.6250832259473755,-1.6430559656154176,-1.5707975844221749,-0.4120142609053732,0.0],"actuator_force":[0.010283328376317513,-21.11749721820206,-21.05671571951416,-2.3991219100770422,0.0009825268149370459,0.000963614605609564,-0.29352783376863406],"issued_joint_targets_rad":[-1.98281129669687,-1.5680728804976818,1.6355346263627326,-1.6382345486014016,-1.5707985640426407,-0.4120145344461181],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.100000000000396,"joint_targets_rad":[-1.98281129669687,-1.5680728804976818,1.6355346263627326,-1.6382345486014016,-1.5707985640426407,-0.4120145344461181],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.120000000000385,"qpos":[-1.9826449393469365,-1.568257580033693,1.6313911639690346,-1.6336369478820967,-1.5708052125616394,-0.41184262324032683,0.0029363608022105457,0.0001563761531215911,0.0031962039917863053,-0.0034320798734369566,0.002936334236142673,0.00015629053269850608,0.0032000794618820406,-0.003440901469827654,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-2.914777998064589e-17,8.33624167354865e-18,-1.310119889552209e-07],"qvel":[-0.0008546197975729042,0.0011718237850642812,0.021070278399627256,-0.02311214391369763,2.9882458285158953e-05,-0.0008682831830319471,-1.2383544207675678e-05,-3.653797347802652e-07,-1.2183014129485944e-05,1.266130246760036e-05,-1.2259812051274576e-05,4.0666273127210345e-08,-9.866929449790798e-06,1.3203630393708638e-05,-9.116764835495336e-18,-4.004954824880214e-17,1.0986511741896503e-14,-1.3940739670759712e-15,-6.647855132801803e-16,-3.094304102829664e-08],"joint_position_rad":[-1.9826449393469365,-1.568257580033693,1.6313911639690346,-1.6336369478820967,-1.5708052125616394,-0.41184262324032683],"joint_velocity_rad_s":[-0.0008546197975729042,0.0011718237850642812,0.021070278399627256,-0.02311214391369763,2.9882458285158953e-05,-0.0008682831830319471],"linkage_position_rad":[0.0029363608022105457,0.0001563761531215911,0.0031962039917863053,-0.0034320798734369566,0.002936334236142673,0.00015629053269850608,0.0032000794618820406,-0.003440901469827654],"tcp_position_m":[0.07424572466961958,0.5047043680046764,0.30743741745511094],"tcp_quaternion_wxyz":[5.7591262186627563e-05,0.7071088906715282,0.7071046565090162,-0.0001347582768363617],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-2.914777998064589e-17,8.33624167354865e-18,-1.310119889552209e-07],"object_linear_velocity_m_s":[-9.116764835495336e-18,-4.004954824880214e-17,1.0986511741896503e-14],"object_angular_velocity_rad_s":[-1.3940741417815674e-15,-6.64785149803194e-16,-3.094304102829669e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313493931406033,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828112477372375,-1.5785767055071849,1.6250846995918877,-1.6430602110608779,-1.5707973438748222,-0.4120145348455025,0.0],"actuator_force":[0.009231138427367114,-21.106980461009243,-21.04104011414438,-2.400417198020932,0.0009460975800266169,0.0008725157153435248,-0.2935115351363662],"issued_joint_targets_rad":[-1.9828115034266716,-1.5680726414477746,1.6355359317385398,-1.6382383112127987,-1.5707983487650417,-0.4120147823643434],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.120000000000385,"joint_targets_rad":[-1.9828115034266716,-1.5680726414477746,1.6355359317385398,-1.6382383112127987,-1.5707983487650417,-0.4120147823643434],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.140000000000374,"qpos":[-1.9826611587572214,-1.5682355742932108,1.6317909971237652,-1.6340760113878252,-1.5708046217800251,-0.41185912370687655,0.002936122188493754,0.00015636890631732912,0.00319596802039836,-0.003431836472678205,0.002936098165139834,0.00015629147345936335,0.0031998906541472138,-0.003440646437501377,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-2.5294572721175705e-17,5.389646230054694e-18,-1.3112931557901596e-07],"qvel":[-0.0007722371213339679,0.0010382649660801739,0.019043408282952853,-0.02092420698207132,2.8342294615245063e-05,-0.0007861954368555167,-1.1474618252598392e-05,-3.2946162782587244e-07,-1.130230835753934e-05,1.1704038870766787e-05,-1.1363195151029095e-05,3.637148028871176e-08,-9.207685827767141e-06,1.220068910503399e-05,-5.588355961813965e-18,-3.040263850057729e-17,1.1004552866046664e-14,1.176892996541168e-15,-1.5421706955952543e-17,-3.348576410385071e-09],"joint_position_rad":[-1.9826611587572214,-1.5682355742932108,1.6317909971237652,-1.6340760113878252,-1.5708046217800251,-0.41185912370687655],"joint_velocity_rad_s":[-0.0007722371213339679,0.0010382649660801739,0.019043408282952853,-0.02092420698207132,2.8342294615245063e-05,-0.0007861954368555167],"linkage_position_rad":[0.002936122188493754,0.00015636890631732912,0.00319596802039836,-0.003431836472678205,0.002936098165139834,0.00015629147345936335,0.0031998906541472138,-0.003440646437501377],"tcp_position_m":[0.0742550897350761,0.5047062402421545,0.3072740856163173],"tcp_quaternion_wxyz":[5.4171319389567765e-05,0.7071087922259988,0.7071047566885637,-0.0001268485855314187],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-2.5294572721175705e-17,5.389646230054694e-18,-1.3112931557901596e-07],"object_linear_velocity_m_s":[-5.588355961813965e-18,-3.040263850057729e-17,1.1004552866046664e-14],"object_angular_velocity_rad_s":[1.1768929924605585e-15,-1.5422015775699945e-17,-3.3485764103850765e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931349554658779,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828114635003902,-1.5785766665960173,1.625086236250557,-1.6430640420889389,-1.5707971266320724,-0.41201478273706654,0.0],"actuator_force":[0.008285362196147616,-21.097490592044778,-21.02688505959759,-2.4015946523496723,0.0009133445148563624,0.0007900285905861892,-0.29349682861466125],"issued_joint_targets_rad":[-1.982811690481753,-1.568072600807146,1.6355372780211301,-1.6382417050853506,-1.5707981544069065,-0.41201500670918645],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.140000000000374,"joint_targets_rad":[-1.982811690481753,-1.568072600807146,1.6355372780211301,-1.6382417050853506,-1.5707981544069065,-0.41201500670918645],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.160000000000363,"qpos":[-1.9826758155351831,-1.5682160943791894,1.632152383651774,-1.6344735096475989,-1.570804062497667,-0.41187406420210765,0.0029359014419681052,0.00015636236474805734,0.0031957496312260644,-0.003431611704453265,0.0029358797167355153,0.00015629233032432102,0.003199714927566779,-0.003440411132291932,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-3.86618699109707e-17,-2.968964419859642e-17,-1.3160093179138071e-07],"qvel":[-0.0006978005480937367,0.0009187870494281325,0.017212300142865258,-0.018943303305953202,2.682139029533772e-05,-0.0007118676656737232,-1.060008404184133e-05,-2.971076491780824e-07,-1.0451684560486182e-05,1.0789661068081308e-05,-1.049971173326584e-05,3.259464523840068e-08,-8.557283609297491e-06,1.1243945826755521e-05,3.432805880535446e-17,-4.5025917331149805e-17,1.0831080518448985e-14,9.182889116517223e-16,3.863867973088767e-17,-1.3460226437937344e-08],"joint_position_rad":[-1.9826758155351831,-1.5682160943791894,1.632152383651774,-1.6344735096475989,-1.570804062497667,-0.41187406420210765],"joint_velocity_rad_s":[-0.0006978005480937367,0.0009187870494281325,0.017212300142865258,-0.018943303305953202,2.682139029533772e-05,-0.0007118676656737232],"linkage_position_rad":[0.0029359014419681052,0.00015636236474805734,0.0031957496312260644,-0.003431611704453265,0.0029358797167355153,0.00015629233032432102,0.003199714927566779,-0.003440411132291932],"tcp_position_m":[0.0742635662032609,0.5047079793169653,0.30712672997319246],"tcp_quaternion_wxyz":[5.087463870425783e-05,0.7071086927541295,0.7071048577350825,-0.00011920891544971262],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-3.86618699109707e-17,-2.968964419859642e-17,-1.3160093179138071e-07],"object_linear_velocity_m_s":[3.432805880535446e-17,-4.5025917331149805e-17,1.0831080518448985e-14],"object_angular_velocity_rad_s":[9.182889226207231e-16,3.8638436994738395e-17,-1.3460226437937367e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313497053537517,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828116579218424,-1.578576800872787,1.6250877921418667,-1.6430675003379014,-1.5707969304151344,-0.41201500705686683,0.0],"actuator_force":[0.007435445918872574,-21.08892780696624,-21.014103076960964,-2.402665014556078,0.000883902236864742,0.0007153391877920967,-0.2934835589563055],"issued_joint_targets_rad":[-1.9828118597350965,-1.5680727072956766,1.6355386307461959,-1.6382447672545646,-1.5707979789150066,-0.4120152097234036],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.160000000000363,"joint_targets_rad":[-1.9828118597350965,-1.5680727072956766,1.6355386307461959,-1.6382447672545646,-1.5707979789150066,-0.4120152097234036],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.180000000000351,"qpos":[-1.9826890602594716,-1.568198871359772,1.6324790340321587,-1.6348333758715563,-1.5708035341321036,-0.4118875921956039,0.0029356978017234304,0.0001563564596884939,0.003195548095310982,-0.0034314046807406486,0.0029356781535521837,0.00015629311082583408,0.0031995519832797997,-0.003440194563122157,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-3.1897292400959825e-17,-4.6637747064801435e-17,-1.3191560060931162e-07],"qvel":[-0.0006305442273511433,0.0008120634239122284,0.015557905699502586,-0.01714985563237666,2.5330411848176656e-05,-0.0006445663639518566,-9.766399342021673e-06,-2.6795799749173816e-07,-9.638306497182665e-06,9.923119344212489e-06,-9.67595430473911e-06,2.92631194188699e-08,-7.92493663418237e-06,1.03382210187532e-05,9.673492198496951e-17,-5.862314815378872e-17,1.0811651615518042e-14,1.5345761304576964e-16,-3.857873167339086e-15,-5.410588666832824e-08],"joint_position_rad":[-1.9826890602594716,-1.568198871359772,1.6324790340321587,-1.6348333758715563,-1.5708035341321036,-0.4118875921956039],"joint_velocity_rad_s":[-0.0006305442273511433,0.0008120634239122284,0.015557905699502586,-0.01714985563237666,2.5330411848176656e-05,-0.0006445663639518566],"linkage_position_rad":[0.0029356978017234304,0.0001563564596884939,0.003195548095310982,-0.0034314046807406486,0.0029356781535521837,0.00015629311082583408,0.0031995519832797997,-0.003440194563122157],"tcp_position_m":[0.07427123816202327,0.5047095930215485,0.3069937878121267],"tcp_quaternion_wxyz":[4.770931350030416e-05,0.7071085933588112,0.7071049585521808,-0.00011186090857091641],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-3.1897292400959825e-17,-4.6637747064801435e-17,-1.3191560060931162e-07],"object_linear_velocity_m_s":[9.673492198496951e-17,-5.862314815378872e-17,1.0811651615518042e-14],"object_angular_velocity_rad_s":[1.5345660026520555e-16,-3.857873211277529e-15,-5.4105886668328336e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313498453797922,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828118331822355,-1.5785770596311863,1.625089334680214,-1.6430706230751766,-1.5707967531683735,-0.41201521004755975,0.0],"actuator_force":[0.006671845412711264,-21.081201912393226,-21.00256098368982,-2.4036380385725806,0.0008574406801926671,0.0006477104172404324,-0.2934715859955469],"issued_joint_targets_rad":[-1.9828120128824072,-1.5680729204932,1.6355399644030542,-1.6382475308943756,-1.5707978204384725,-0.4120153934372531],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.180000000000351,"joint_targets_rad":[-1.9828120128824072,-1.5680729204932,1.6355399644030542,-1.6382475308943756,-1.5707978204384725,-0.4120153934372531],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.20000000000034,"qpos":[-1.982701029020634,-1.5681836621206124,1.632774298217678,-1.6351591713290432,-1.570803035918776,-0.41189984121745676,0.0029355104034634143,0.00015635112912427501,0.003195362576492616,-0.003431214431859222,0.0029354926325614503,0.00015629382180312124,0.003199401374030753,-0.003439995666961432,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-2.1333744036512285e-17,-4.5346222783974034e-17,-1.321207537164166e-07],"qvel":[-0.0005697758786388005,0.0007168649302139804,0.014063055690154128,-0.01552613593139876,2.3877785093792855e-05,-0.0005836273579360512,-8.977621722530701e-06,-2.4169033743334803e-07,-8.866815752225922e-06,9.1072333201266e-06,-8.896099655011027e-06,2.6315817667648574e-08,-7.317136070728669e-06,9.486183184336039e-06,5.353787453486083e-17,-2.942164814570436e-17,1.0813039394298822e-14,1.1364298344479463e-15,1.7664420520759332e-15,-5.8552000624258015e-09],"joint_position_rad":[-1.982701029020634,-1.5681836621206124,1.632774298217678,-1.6351591713290432,-1.570803035918776,-0.41189984121745676],"joint_velocity_rad_s":[-0.0005697758786388005,0.0007168649302139804,0.014063055690154128,-0.01552613593139876,2.3877785093792855e-05,-0.0005836273579360512],"linkage_position_rad":[0.0029355104034634143,0.00015635112912427501,0.003195362576492616,-0.003431214431859222,0.0029354926325614503,0.00015629382180312124,0.003199401374030753,-0.003439995666961432],"tcp_position_m":[0.0742781817945837,0.5047110889677835,0.3068738492393245],"tcp_quaternion_wxyz":[4.4680731940335157e-05,0.7071084949498817,0.7071050582383146,-0.00010481953184853962],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-2.1333744036512285e-17,-4.5346222783974034e-17,-1.321207537164166e-07],"object_linear_velocity_m_s":[5.353787453486083e-17,-2.942164814570436e-17,1.0813039394298822e-14],"object_angular_velocity_rad_s":[1.1364303017462418e-15,1.7664417515341158e-15,-5.855200062425813e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313499750397787,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982811991228147,-1.5785774048432801,1.6250908401008852,-1.6430734436824987,-1.5707965930380157,-0.41201539373931434,0.0],"actuator_force":[0.005985936429624417,-21.074231417420833,-20.992138509647248,-2.404522583587891,0.0008336618707289745,0.0005864748648036766,-0.2934607831943556],"issued_joint_targets_rad":[-1.9828121514585106,-1.5680732087021216,1.635541260527202,-1.6382500257399093,-1.5707976773092052,-0.41201555968827036],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.20000000000034,"joint_targets_rad":[-1.9828121514585106,-1.5680732087021216,1.635541260527202,-1.6382500257399093,-1.5707976773092052,-0.41201555968827036],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.22000000000033,"qpos":[-1.9827118448084446,-1.568170247365139,1.6330412011049213,-1.635454120482585,-1.5708025669517693,-0.4119109321758142,0.0029353383216442234,0.0001563463170947158,0.0031951921740454425,-0.0034310399448129318,0.002935322247440799,0.0001562944694701911,0.0031992625507685076,-0.003439813346263156,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,-8.46235401261534e-18,-3.378612623906501e-17,-1.3256167722723929e-07],"qvel":[-0.0005148697816489428,0.0006320585035770142,0.012712269869817923,-0.014056091031949861,2.24700259124149e-05,-0.0005284492508935719,-8.235961649013165e-06,-2.1801573335263471e-07,-8.13990675650305e-06,8.343197117239428e-06,-8.162463924474751e-06,2.37012459471773e-08,-6.73824553025337e-06,8.688861994527973e-06,4.7379811501855864e-17,-1.7246603570685582e-17,1.0771406030875376e-14,7.713994651948813e-16,1.3257861100091495e-15,-2.3536066979166055e-08],"joint_position_rad":[-1.9827118448084446,-1.568170247365139,1.6330412011049213,-1.635454120482585,-1.5708025669517693,-0.4119109321758142],"joint_velocity_rad_s":[-0.0005148697816489428,0.0006320585035770142,0.012712269869817923,-0.014056091031949861,2.24700259124149e-05,-0.0005284492508935719],"linkage_position_rad":[0.0029353383216442234,0.0001563463170947158,0.0031951921740454425,-0.0034310399448129318,0.002935322247440799,0.0001562944694701911,0.0031992625507685076,-0.003439813346263156],"tcp_position_m":[0.07428446611173127,0.5047124745342549,0.30676564224694547],"tcp_quaternion_wxyz":[4.179202168680395e-05,0.7071083982684582,0.7071051560617972,-9.8094157428963e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,-8.46235401261534e-18,-3.378612623906501e-17,-1.3256167722723929e-07],"object_linear_velocity_m_s":[4.7379811501855864e-17,-1.7246603570685582e-17,1.0771406030875376e-14],"object_angular_velocity_rad_s":[7.713998182821015e-16,1.3257859050947506e-15,-2.35360669791661e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313500947410994,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828121337989697,-1.5785778070182859,1.6250922915555392,-1.6430759920844014,-1.5707964483526722,-0.4120155599695855,0.0],"actuator_force":[0.005369931609493506,-21.06794270772434,-20.982727046691252,-2.4053266977132353,0.0008122969574060335,0.0005310282036816716,-0.2934510363263837],"issued_joint_targets_rad":[-1.9828122768523386,-1.568073547217159,1.63554250617119,-1.6382522784617124,-1.5707975480240288,-0.4120157101393104],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.22000000000033,"joint_targets_rad":[-1.9828122768523386,-1.568073547217159,1.63554250617119,-1.6382522784617124,-1.5707975480240288,-0.4120157101393104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.240000000000318,"qpos":[-1.9827216187678642,-1.568158429671447,1.63328247443485,-1.6357211428090486,-1.5708021262184013,-0.41192097454987725,0.0029351806017251132,0.0001563419730998745,0.0031950359553553935,-0.0034308801924288483,0.002935166061021246,0.0001562950594760618,0.0031991348989016456,-0.003439646497269961,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999922,2.0045448166673405e-18,-1.700799824410482e-17,-1.327483924581436e-07],"qvel":[-0.0004652604224902908,0.0005566042274090667,0.011491587061565306,-0.012725184653251037,2.1112029166117404e-05,-0.00047848748868142203,-7.542224125913808e-06,-1.966748805591267e-07,-7.458786299270574e-06,7.630980488827188e-06,-7.475945946690613e-06,2.137584669841492e-08,-6.190978651541098e-06,7.946055748205943e-06,2.1201086431530308e-17,4.295467088786656e-17,1.0778344924779284e-14,4.820299575694398e-15,2.301119985588836e-15,-9.460760400022694e-08],"joint_position_rad":[-1.9827216187678642,-1.568158429671447,1.63328247443485,-1.6357211428090486,-1.5708021262184013,-0.41192097454987725],"joint_velocity_rad_s":[-0.0004652604224902908,0.0005566042274090667,0.011491587061565306,-0.012725184653251037,2.1112029166117404e-05,-0.00047848748868142203],"linkage_position_rad":[0.0029351806017251132,0.0001563419730998745,0.0031950359553553935,-0.0034308801924288483,0.002935166061021246,0.0001562950594760618,0.0031991348989016456,-0.003439646497269961],"tcp_position_m":[0.0742901536183461,0.5047137568281197,0.3066680192363092],"tcp_quaternion_wxyz":[3.904443447270137e-05,0.7071083039089237,0.7071052514382938,-9.168949811183912e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999922,2.0045448166673405e-18,-1.700799824410482e-17,-1.327483924581436e-07],"object_linear_velocity_m_s":[2.1201086431530308e-17,4.295467088786656e-17,1.0778344924779284e-14],"object_angular_velocity_rad_s":[4.820300189852368e-15,2.3011187061940097e-15,-9.460760400022713e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313502049611988,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982812262450444,-1.5785782434736695,1.6250936775876417,-1.6430782951266685,-1.5707963176055888,-0.41201571040115437,0.0],"actuator_force":[0.004816803836547479,-21.06226929540844,-20.974228519042754,-2.406057693484854,0.0007931034896273559,0.0004808232295943071,-0.293442242286955],"issued_joint_targets_rad":[-1.9828123903205994,-1.5680739169259135,1.6355436926810012,-1.6382543129970926,-1.5707974312284765,-0.41201584629496824],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.240000000000318,"joint_targets_rad":[-1.9828123903205994,-1.5680739169259135,1.6355436926810012,-1.6382543129970926,-1.5707974312284765,-0.41201584629496824],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.260000000000307,"qpos":[-1.9827304513357715,-1.568148031629979,1.6335005854973728,-1.6359628816194471,-1.5708017126284513,-0.4119300674701291,0.002935036284536732,0.00015633805156647755,0.0031948929806534998,-0.003430734155155205,0.0029350231298336843,0.0001562955969589201,0.003199017766263817,-0.003439494031057601,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,1.7390901408249416e-17,-5.1809074411386445e-18,-1.331071157895876e-07],"qvel":[-0.0004204367369689951,0.0004895512913391,0.01038841299273194,-0.011520254295867621,1.980732042539871e-05,-0.0004332489866962009,-6.89616032586918e-06,-1.7743509446150807e-07,-6.823539644334562e-06,6.969648223408468e-06,-6.836380325583933e-06,1.930260922058303e-08,-5.676781318685818e-06,7.256656519630859e-06,9.564182935205914e-18,1.8084901226670016e-17,1.1515255457374232e-14,-1.4182859069979541e-16,6.062736209126878e-16,-1.0238191867065563e-08],"joint_position_rad":[-1.9827304513357715,-1.568148031629979,1.6335005854973728,-1.6359628816194471,-1.5708017126284513,-0.4119300674701291],"joint_velocity_rad_s":[-0.0004204367369689951,0.0004895512913391,0.01038841299273194,-0.011520254295867621,1.980732042539871e-05,-0.0004332489866962009],"linkage_position_rad":[0.002935036284536732,0.00015633805156647755,0.0031948929806534998,-0.003430734155155205,0.0029350231298336843,0.0001562955969589201,0.003199017766263817,-0.003439494031057601],"tcp_position_m":[0.07429530091972385,0.5047149426587473,0.30657994485646856],"tcp_quaternion_wxyz":[3.643767788849955e-05,0.7071082123387014,0.7071053439106532,-8.560641559151105e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,1.7390901408249416e-17,-5.1809074411386445e-18,-1.331071157895876e-07],"object_linear_velocity_m_s":[9.564182935205914e-18,1.8084901226670016e-17,1.1515255457374232e-14],"object_angular_velocity_rad_s":[-1.41828429195038e-16,6.062736590255583e-16,-1.0238191867065563e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931350306220871,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828123785752996,-1.5785786969407904,1.6250949909145158,-1.643080376910758,-1.5707961994385162,-0.41201584653854745,0.0],"actuator_force":[0.004320215731240751,-21.057151138158588,-20.96655436280662,-2.406722216068715,0.0007758629250247395,0.00043536446045777666,-0.29343430801526355],"issued_joint_targets_rad":[-1.9828124930002193,-1.5680743031780966,1.6355448147189457,-1.6382561508436293,-1.5707973257020926,-0.41201596951651825],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.260000000000307,"joint_targets_rad":[-1.9828124930002193,-1.5680743031780966,1.6355448147189457,-1.6382561508436293,-1.5707973257020926,-0.41201596951651825],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.280000000000296,"qpos":[-1.982738433269544,-1.568138894077916,1.6336977629719607,-1.6361817301596868,-1.5708013250387345,-0.4119383006964614,0.0029349044243883807,0.00015633451136586342,0.00319476232143642,-0.003430600837052887,0.0029348925223770033,0.0001562960865937781,0.0031989104844531856,-0.00343935488885254,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,3.875214507035668e-17,5.503867335242587e-18,-1.3349325993412535e-07],"qvel":[-0.00037993689659497447,0.0004300332349877612,0.009391383933698294,-0.01042938159999417,1.855827474227104e-05,-0.0003922872650399248,-6.296746140478324e-06,-1.6008732540205783e-07,-6.233420993965685e-06,6.357612080988774e-06,-6.2428172475655836e-06,1.745005025161003e-08,-5.196136665412316e-06,6.618903652262997e-06,-9.265995833352556e-18,6.11233933377307e-17,1.1679013353506442e-14,1.8553936041257292e-15,1.0097022736800495e-15,-4.1154318718348825e-08],"joint_position_rad":[-1.982738433269544,-1.568138894077916,1.6336977629719607,-1.6361817301596868,-1.5708013250387345,-0.4119383006964614],"joint_velocity_rad_s":[-0.00037993689659497447,0.0004300332349877612,0.009391383933698294,-0.01042938159999417,1.855827474227104e-05,-0.0003922872650399248],"linkage_position_rad":[0.0029349044243883807,0.00015633451136586342,0.00319476232143642,-0.003430600837052887,0.0029348925223770033,0.0001562960865937781,0.0031989104844531856,-0.00343935488885254],"tcp_position_m":[0.07429995927279079,0.5047160385207985,0.30650048503013017],"tcp_quaternion_wxyz":[3.397020091288082e-05,0.7071081239159354,0.7071054331309212,-7.984261707412492e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,3.875214507035668e-17,5.503867335242587e-18,-1.3349325993412535e-07],"object_linear_velocity_m_s":[-9.265995833352556e-18,6.11233933377307e-17,1.1679013353506442e-14],"object_angular_velocity_rad_s":[1.8553938732495437e-15,1.0097017815045687e-15,-4.1154318718348825e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313503990637416,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828124834213787,-1.5785791544417707,1.6250962274566187,-1.643082259089533,-1.5707960926270812,-0.4120159697429749,0.0],"actuator_force":[0.0038744549683542573,-21.05253402170456,-20.95962460416331,-2.4073263049237994,0.0007603783524245955,0.00039420324722527766,-0.293427149521329],"issued_joint_targets_rad":[-1.9828125859196666,-1.5680746948728825,1.6355458694853549,-1.6382578113193413,-1.5707972303451372,-0.41201608103548193],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.280000000000296,"joint_targets_rad":[-1.9828125859196666,-1.5680746948728825,1.6355458694853549,-1.6382578113193413,-1.5707972303451372,-0.41201608103548193],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.300000000000285,"qpos":[-1.9827456465775883,-1.5681308744398892,1.633876020199708,-1.636379855248121,-1.5708009622736354,-0.41194575550385293,0.0029347841022253334,0.00015633131537951027,0.0031946430738963136,-0.003430479277207113,0.0029347733324208295,0.00015629653263609766,0.0031988123849003565,-0.0034392280528183833,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,3.3873624457593746e-17,7.804361119870988e-18,-1.336493046249297e-07],"qvel":[-0.0003433435877674372,0.00037726276870699786,0.008490244398412878,-0.009441774908402579,1.7366306250793482e-05,-0.0003551980436925678,-5.742402021979395e-06,-1.444437536837115e-07,-5.687083127746393e-06,5.792828284541027e-06,-5.693743409401148e-06,1.5791215265050444e-08,-4.7488075941237155e-06,6.030586254419509e-06,-7.871402550065101e-18,3.8147426376666024e-17,1.1708156707902856e-14,-1.2276214851166563e-15,-1.9674291990043913e-16,-4.453614650211653e-09],"joint_position_rad":[-1.9827456465775883,-1.5681308744398892,1.633876020199708,-1.636379855248121,-1.5708009622736354,-0.41194575550385293],"joint_velocity_rad_s":[-0.0003433435877674372,0.00037726276870699786,0.008490244398412878,-0.009441774908402579,1.7366306250793482e-05,-0.0003551980436925678],"linkage_position_rad":[0.0029347841022253334,0.00015633131537951027,0.0031946430738963136,-0.003430479277207113,0.0029347733324208295,0.00015629653263609766,0.0031988123849003565,-0.0034392280528183833],"tcp_position_m":[0.07430417508694913,0.5047170505848395,0.30642879705129095],"tcp_quaternion_wxyz":[3.1639438955031394e-05,0.7071080389052361,0.7071055188443801,-7.439325407457925e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,3.3873624457593746e-17,7.804361119870988e-18,-1.336493046249297e-07],"object_linear_velocity_m_s":[-7.871402550065101e-18,3.8147426376666024e-17,1.1708156707902856e-14],"object_angular_velocity_rad_s":[-1.2276215377752367e-15,-1.9674259145719633e-16,-4.453614650211653e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313504840406932,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828125781075945,-1.5785796063861792,1.6250973855660216,-1.6430839611289976,-1.5707959960675506,-0.4120160812458974,0.0],"actuator_force":[0.0034743750948109664,-21.04836900006285,-20.95336702673785,-2.4078754495980093,0.0007464724174042203,0.0003569333470068159,-0.2934206910051513],"issued_joint_targets_rad":[-1.9828126700092346,-1.5680750837232125,1.635546856100393,-1.63825931179349,-1.5707971441665705,-0.41201618196594264],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.300000000000285,"joint_targets_rad":[-1.9828126700092346,-1.5680750837232125,1.635546856100393,-1.63825931179349,-1.5707971441665705,-0.41201618196594264],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.320000000000274,"qpos":[-1.9827521653610087,-1.568123845179861,1.6340371761500445,-1.6365592186817972,-1.5708006231421607,-0.41195250548434176,0.0029346744348920616,0.0001563284301071333,0.0031945343684168944,-0.0034303685575527297,0.0029346646884000935,0.00015629693896027598,0.0031987228107457316,-0.0034391125533318853,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,4.603663637545447e-17,2.5598396504471467e-17,-1.3408243817759242e-07],"qvel":[-0.0003102797386176446,0.00033052639188526413,0.007675737374516436,-0.008547662889474552,1.6232032149325628e-05,-0.00032161525414176203,-5.231165344397168e-06,-1.3033552414071745e-07,-5.182757669232219e-06,5.272952272034382e-06,-5.187255318357655e-06,1.430300083153392e-08,-4.334028882042929e-06,5.489197757380759e-06,-3.141605043121408e-17,5.673304185969189e-17,1.1784484540845836e-14,-6.436090054545262e-16,6.931956770238844e-17,-1.790213341802034e-08],"joint_position_rad":[-1.9827521653610087,-1.568123845179861,1.6340371761500445,-1.6365592186817972,-1.5708006231421607,-0.41195250548434176],"joint_velocity_rad_s":[-0.0003102797386176446,0.00033052639188526413,0.007675737374516436,-0.008547662889474552,1.6232032149325628e-05,-0.00032161525414176203],"linkage_position_rad":[0.0029346744348920616,0.0001563284301071333,0.0031945343684168944,-0.0034303685575527297,0.0029346646884000935,0.00015629693896027598,0.0031987228107457316,-0.0034391125533318853],"tcp_position_m":[0.07430799037893214,0.5047179846939082,0.30636412065017793],"tcp_quaternion_wxyz":[2.9442023514056564e-05,0.7071079574916365,0.7071056008754358,-6.925143561962909e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,4.603663637545447e-17,2.5598396504471467e-17,-1.3408243817759242e-07],"object_linear_velocity_m_s":[-3.141605043121408e-17,5.673304185969189e-17,1.1784484540845836e-14],"object_angular_velocity_rad_s":[-6.436089877819616e-16,6.931974194402346e-17,-1.7902133418020345e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313505616982275,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982812663637993,-1.57858004584568,1.6250984654151748,-1.643085500540188,-1.5707959087648657,-0.4120161821613408,0.0],"actuator_force":[0.0031153414788605005,-21.04461188839241,-20.947716419546396,-2.4083746402480983,0.0007339854325891793,0.0003231869146702593,-0.293414864061294],"issued_joint_targets_rad":[-1.9828127461103706,-1.5680754636635887,1.635547775114727,-1.6382606678915042,-1.5707970662732194,-0.41201627331571683],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.320000000000274,"joint_targets_rad":[-1.9828127461103706,-1.5680754636635887,1.635547775114727,-1.6382606678915042,-1.5707970662732194,-0.41201627331571683],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.340000000000263,"qpos":[-1.982758056574773,-1.5681176923654216,1.6341828743169287,-1.6367215966215423,-1.5708003064519782,-0.4119586172732036,0.0029345745813520985,0.00015632582531341173,0.0031944353759982246,-0.0034302678079047174,0.0029345657597536446,0.00015629730909483215,0.0031986411254192877,-0.003439007473503366,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,3.6624760212268113e-17,1.7831304054506298e-17,-1.3437168266381463e-07],"qvel":[-0.00028040465207396334,0.0002891789731464349,0.006939505732358865,-0.0077381981823354175,1.515541402049221e-05,-0.0002912074280517509,-4.760824671280572e-06,-1.1761077404353391e-07,-4.718396091612414e-06,4.795458831765101e-06,-4.721194387171485e-06,1.2965523464165932e-08,-3.950658117036069e-06,4.992058360903751e-06,-2.397617293042925e-17,5.835225384382573e-17,1.1790035655968964e-14,4.376743779517769e-17,-1.0078214664370859e-15,-7.196095892613527e-08],"joint_position_rad":[-1.982758056574773,-1.5681176923654216,1.6341828743169287,-1.6367215966215423,-1.5708003064519782,-0.4119586172732036],"joint_velocity_rad_s":[-0.00028040465207396334,0.0002891789731464349,0.006939505732358865,-0.0077381981823354175,1.515541402049221e-05,-0.0002912074280517509],"linkage_position_rad":[0.0029345745813520985,0.00015632582531341173,0.0031944353759982246,-0.0034302678079047174,0.0029345657597536446,0.00015629730909483215,0.0031986411254192877,-0.003439007473503366],"tcp_position_m":[0.07431144318570905,0.5047188463647599,0.3063057699311865],"tcp_quaternion_wxyz":[2.7373960955178404e-05,0.7071078797929091,0.7071056791151986,-6.44086666688083e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,3.6624760212268113e-17,1.7831304054506298e-17,-1.3437168266381463e-07],"object_linear_velocity_m_s":[-2.397617293042925e-17,5.835225384382573e-17,1.1790035655968964e-14],"object_angular_velocity_rad_s":[4.376716438352881e-17,-1.0078214729281523e-15,-7.196095892613529e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931350632569933,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828127409141627,-1.5785804679726778,1.6250994685145264,-1.6430868930848312,-1.5707958298218492,-0.41201627349706643,0.0],"actuator_force":[0.0027931820500270987,-21.04122280377078,-20.942613897748288,-2.4088284134110154,0.0007227736625736725,0.0002926308737301042,-0.2934096069599949],"issued_joint_targets_rad":[-1.982812814984146,-1.5680758303741342,1.6355486281237277,-1.638261893677105,-1.570796995860007,-0.4120163559964774],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.340000000000263,"joint_targets_rad":[-1.982812814984146,-1.5680758303741342,1.6355486281237277,-1.638261893677105,-1.570796995860007,-0.4120163559964774],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.360000000000252,"qpos":[-1.982763380715979,-1.5681123143431608,1.6343145997542587,-1.6368685971463097,-1.5708000110208706,-0.41196415120649993,0.002934483746546347,0.00015632347370873902,0.00319434531229079,-0.0034301762088380337,0.002934475760889872,0.00015629764625364284,0.003198566718619944,-0.0034389119515986642,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,2.628954507734179e-17,1.0149464761719214e-17,-1.3464453678788518e-07],"qvel":[-0.0002534105073862349,0.00025263841279141863,0.006274003619368956,-0.007005370123225825,1.4135879363223666e-05,-0.0002636744272771033,-4.329023484145547e-06,-1.0613283491936277e-07,-4.291778403316239e-06,4.357732354478076e-06,-4.293251375299339e-06,1.1761572002455978e-08,-3.597294816625018e-06,4.53640561097521e-06,-1.3455948343123743e-17,3.211998872406588e-17,1.1921874640143202e-14,-1.2403773933280885e-15,-4.5863882914819875e-16,-7.787430114201652e-09],"joint_position_rad":[-1.982763380715979,-1.5681123143431608,1.6343145997542587,-1.6368685971463097,-1.5708000110208706,-0.41196415120649993],"joint_velocity_rad_s":[-0.0002534105073862349,0.00025263841279141863,0.006274003619368956,-0.007005370123225825,1.4135879363223666e-05,-0.0002636744272771033],"linkage_position_rad":[0.002934483746546347,0.00015632347370873902,0.00319434531229079,-0.0034301762088380337,0.002934475760889872,0.00015629764625364284,0.003198566718619944,-0.0034389119515986642],"tcp_position_m":[0.07431456793917114,0.5047196407927332,0.30625312609868555],"tcp_quaternion_wxyz":[2.543078437975195e-05,0.7071078058703975,0.7071057535105898,-5.985522129535586e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,2.628954507734179e-17,1.0149464761719214e-17,-1.3464453678788518e-07],"object_linear_velocity_m_s":[-1.3455948343123743e-17,3.211998872406588e-17,1.1921874640143202e-14],"object_angular_velocity_rad_s":[-1.2403775169925458e-15,-4.586384947186472e-16,-7.787430114201656e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313506971704064,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982812810746217,-1.5785808695353551,1.62510039733354,-1.6430881529579442,-1.5707957584294685,-0.4120163561646947,0.0],"actuator_force":[0.002504142478301219,-21.038165749505424,-20.93800628918507,-2.4092408934947116,0.0007127077647055557,0.000264963630343118,-0.29340486399751375],"issued_joint_targets_rad":[-1.982812877318921,-1.5680761808987953,1.6355494174647587,-1.638263001814333,-1.5707969322011568,-0.4120164308329222],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.360000000000252,"joint_targets_rad":[-1.982812877318921,-1.5680761808987953,1.6355494174647587,-1.638263001814333,-1.5707969322011568,-0.4120164308329222],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.38000000000024,"qpos":[-1.9827681924461193,-1.568107620521855,1.634433694438056,-1.6370016761493422,-1.5707997356859762,-0.4119691619164841,0.002934401183437433,0.0001563213506620712,0.003194263439794536,-0.0034300929929181687,0.002934393953328014,0.00015629795336492497,0.0031984990102741496,-0.003438825181861075,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,2.4500989868241793e-18,3.0773094025662935e-17,-1.3503628684152847e-07],"qvel":[-0.00022901919554918788,0.00022038047329313217,0.00567241678344001,-0.006341925699988194,1.317242577079967e-05,-0.00023874448291926774,-3.933339484404298e-06,-9.577881170468092e-08,-3.900597567974582e-06,3.95713732378662e-06,-3.901046309605717e-06,1.0676241327216447e-08,-3.2723720472104963e-06,4.119466500626847e-06,-4.5962991618038886e-17,4.937971097812503e-18,1.1889955728185224e-14,-1.8311696214327866e-15,1.1964949640362567e-15,-3.130302548320349e-08],"joint_position_rad":[-1.9827681924461193,-1.568107620521855,1.634433694438056,-1.6370016761493422,-1.5707997356859762,-0.4119691619164841],"joint_velocity_rad_s":[-0.00022901919554918788,0.00022038047329313217,0.00567241678344001,-0.006341925699988194,1.317242577079967e-05,-0.00023874448291926774],"linkage_position_rad":[0.002934401183437433,0.0001563213506620712,0.003194263439794536,-0.0034300929929181687,0.002934393953328014,0.00015629795336492497,0.0031984990102741496,-0.003438825181861075],"tcp_position_m":[0.07431739580601544,0.5047203728593795,0.30620563089381503],"tcp_quaternion_wxyz":[2.360768209015531e-05,0.7071077357384976,0.7071058240548327,-5.558045905933489e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,2.4500989868241793e-18,3.0773094025662935e-17,-1.3503628684152847e-07],"object_linear_velocity_m_s":[-4.5962991618038886e-17,4.937971097812503e-18,1.1889955728185224e-14],"object_angular_velocity_rad_s":[-1.831169300218828e-15,1.1964954587382973e-15,-3.13030254832035e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313507559911001,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828128738625084,-1.5785812485467048,1.6251012550045745,-1.6430892929501577,-1.570795693858066,-0.4120164309888729,0.0],"actuator_force":[0.002244845441509824,-21.03540823901676,-20.933845580338584,-2.409615830408825,0.0007036713780053105,0.00023991209752693976,-0.2934005849093023],"issued_joint_targets_rad":[-1.9828129337372977,-1.5680765133397072,1.635550145981012,-1.6382640037118337,-1.570796874642275,-0.4120164985710788],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.38000000000024,"joint_targets_rad":[-1.9828129337372977,-1.5680765133397072,1.635550145981012,-1.6382640037118337,-1.570796874642275,-0.4120164985710788],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.40000000000023,"qpos":[-1.9827725411536108,-1.5681035302589392,1.634541371123286,-1.6371221517324916,-1.5707994793111326,-0.411973698870736,0.0029343261936751,0.00015631943394134619,0.0031941890686599792,-0.0034300174447034165,0.002934319646451199,0.00015629823309641392,0.00319843745292651,-0.003438746414126074,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,-4.7165117463068794e-18,2.7583873498037625e-17,-1.3515497841716105e-07],"qvel":[-0.0002069794573739234,0.00019193383687841117,0.005128590888650764,-0.005741297961353163,1.2263709906261586e-05,-0.00021617151423420595,-3.5713443524044705e-06,-8.64379416567506e-08,-3.5425221082921032e-06,3.5910700784338044e-06,-3.5421888107410306e-06,9.696530126009237e-09,-2.974227983944486e-06,3.738506937624624e-06,-3.023852460194092e-17,-1.1087892494181555e-18,1.196350800356664e-14,-1.7332740053653223e-16,-9.561417698978321e-16,-3.387533003329633e-09],"joint_position_rad":[-1.9827725411536108,-1.5681035302589392,1.634541371123286,-1.6371221517324916,-1.5707994793111326,-0.411973698870736],"joint_velocity_rad_s":[-0.0002069794573739234,0.00019193383687841117,0.005128590888650764,-0.005741297961353163,1.2263709906261586e-05,-0.00021617151423420595],"linkage_position_rad":[0.0029343261936751,0.00015631943394134619,0.0031941890686599792,-0.0034300174447034165,0.002934319646451199,0.00015629823309641392,0.00319843745292651,-0.003438746414126074],"tcp_position_m":[0.07431995499596589,0.5047210471421544,0.3061627806728885],"tcp_quaternion_wxyz":[2.189960573089331e-05,0.7071076693729278,0.7071058907791742,-5.157309198319628e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,-4.7165117463068794e-18,2.7583873498037625e-17,-1.3515497841716105e-07],"object_linear_velocity_m_s":[-3.023852460194092e-17,-1.1087892494181555e-18,1.196350800356664e-14],"object_angular_velocity_rad_s":[-1.733276591780491e-16,-9.5614172307763e-16,-3.3875330033296347e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313508094976505,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828129309182507,-1.5785816039693825,1.6251020450930251,-1.6430903245921744,-1.5707956354494652,-0.4120164987155802,0.0],"actuator_force":[0.0020122536698181648,-21.03292095563802,-20.930088415982027,-2.409956633706088,0.0006955598431659382,0.00021722900129361733,-0.2933967243404992],"issued_joint_targets_rad":[-1.9828129848024039,-1.5680768266131195,1.6355508168385395,-1.638264909651477,-1.5707968225932247,-0.4120165598858208],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.40000000000023,"joint_targets_rad":[-1.9828129848024039,-1.5680768266131195,1.6355508168385395,-1.638264909651477,-1.5707968225932247,-0.4120165598858208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.420000000000218,"qpos":[-1.9827764714622678,-1.56809997184486,1.634638725845711,-1.6372312172403407,-1.5707992407926061,-0.4119778068603449,0.0029342581272307207,0.00015631770347933745,0.003194121556438747,-0.0034299488998175308,0.0029342521972201816,0.00015629848787930428,0.0031983815329296875,-0.0034386749525708218,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,-1.6088063838981082e-17,3.464739058525042e-17,-1.35632081307612e-07],"qvel":[-0.0001870642956059962,0.0001668754285565627,0.004636966991385075,-0.005197541179979515,1.1408123279390954e-05,-0.000195732700902139,-3.2406481530741794e-06,-7.801059489154619e-08,-3.2152442431311527e-06,3.2569956235619104e-06,-3.214322960257937e-06,8.811121798650489e-09,-2.7011596340197418e-06,3.3908715846552467e-06,-4.145223925019931e-17,-2.0022517740756163e-17,1.2034284721386493e-14,4.419197151028504e-16,-1.099129528133035e-15,-1.3616819717593223e-08],"joint_position_rad":[-1.9827764714622678,-1.56809997184486,1.634638725845711,-1.6372312172403407,-1.5707992407926061,-0.4119778068603449],"joint_velocity_rad_s":[-0.0001870642956059962,0.0001668754285565627,0.004636966991385075,-0.005197541179979515,1.1408123279390954e-05,-0.000195732700902139],"linkage_position_rad":[0.0029342581272307207,0.00015631770347933745,0.003194121556438747,-0.0034299488998175308,0.0029342521972201816,0.00015629848787930428,0.0031983815329296875,-0.0034386749525708218],"tcp_position_m":[0.07432227104120132,0.5047216679256057,0.30612412106475617],"tcp_quaternion_wxyz":[2.030136081194253e-05,0.7071076067179088,0.7071059537457157,-4.782140867709015e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,-1.6088063838981082e-17,3.464739058525042e-17,-1.35632081307612e-07],"object_linear_velocity_m_s":[-4.145223925019931e-17,-2.0022517740756163e-17,1.2034284721386493e-14],"object_angular_velocity_rad_s":[4.4191941600480876e-16,-1.0991296484481128e-15,-1.3616819717593231e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313508581283705,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828129825031657,-1.5785819354816395,1.6251027714203314,-1.6430912582834774,-1.5707955826098596,-0.41201656001964393,0.0],"actuator_force":[0.0018036364463114296,-21.030677444981393,-20.926695647312954,-2.41026640357029,0.0006882790453346388,0.00019669044070269592,-0.2933932413669784],"issued_joint_targets_rad":[-1.9828130310235885,-1.5680771202550186,1.6355514333857049,-1.6382657289031315,-1.5707967755217214,-0.4120166153876685],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.420000000000218,"joint_targets_rad":[-1.9828130310235885,-1.5680771202550186,1.6355514333857049,-1.6382657289031315,-1.5707967755217214,-0.4120166153876685],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.440000000000207,"qpos":[-1.9827800236908786,-1.5680968815793932,1.6347267492036137,-1.6373299530624599,-1.5707990190634562,-0.41198152644195524,0.002934196381275147,0.00015631614116261647,0.003194060307067676,-0.0034298867433728863,0.0029341910091227686,0.00015629871992912125,0.003198330770725524,-0.0034386101538175892,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,9.850675771553686e-18,3.828063989906346e-17,-1.3595041091256106e-07],"qvel":[-0.0001690686352440924,0.00014482602714471066,0.0041925234369575345,-0.004705272133902615,1.060385649264403e-05,-0.00017722628471310943,-2.9389314302893768e-06,-7.040697618305176e-08,-2.916514037323527e-06,2.9524750083543686e-06,-2.915159836634065e-06,8.010060228145356e-09,-2.4514642266198996e-06,3.0740090300225566e-06,-7.309937319795147e-17,3.1849779803128895e-17,1.2049550287975092e-14,4.176599372735954e-15,2.0221707365584067e-15,-5.47353425159808e-08],"joint_position_rad":[-1.9827800236908786,-1.5680968815793932,1.6347267492036137,-1.6373299530624599,-1.5707990190634562,-0.41198152644195524],"joint_velocity_rad_s":[-0.0001690686352440924,0.00014482602714471066,0.0041925234369575345,-0.004705272133902615,1.060385649264403e-05,-0.00017722628471310943],"linkage_position_rad":[0.002934196381275147,0.00015631614116261647,0.003194060307067676,-0.0034298867433728863,0.0029341910091227686,0.00015629871992912125,0.003198330770725524,-0.0034386101538175892],"tcp_position_m":[0.07432436704962961,0.5047222392135987,0.30608924215059014],"tcp_quaternion_wxyz":[1.8807682002249805e-05,0.7071075476923774,0.707106013041227,-4.431346134312215e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,9.850675771553686e-18,3.828063989906346e-17,-1.3595041091256106e-07],"object_linear_velocity_m_s":[-7.309937319795147e-17,3.1849779803128895e-17,1.2049550287975092e-14],"object_angular_velocity_rad_s":[4.176599918375081e-15,2.022169602015892e-15,-5.473534251598084e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313509022936135,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828130291482895,-1.5785822432923897,1.6251034379290552,-1.6430921034071468,-1.5707955348034217,-0.41201661551153973,0.0],"actuator_force":[0.0016165392758011876,-21.028653836850935,-20.923631923900302,-2.4105479589532024,0.0006817443679665303,0.00017809367906806983,-0.29339009906356117],"issued_joint_targets_rad":[-1.9828130728615705,-1.5680773942668473,1.6355519990463765,-1.6382664698271692,-1.5707967329475716,-0.4120166656289409],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.440000000000207,"joint_targets_rad":[-1.9828130728615705,-1.5680773942668473,1.6355519990463765,-1.6382664698271692,-1.5707967329475716,-0.4120166656289409],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.460000000000196,"qpos":[-1.9827832342685476,-1.5680942029337657,1.634806336540399,-1.637419337320046,-1.5707988130967436,-0.4119848943380337,0.002934140398516819,0.00015631473064107632,0.003194004769296178,-0.0034298304079301853,0.0029341355305766113,0.00015629893126494626,0.0031982847204498083,-0.0034385514246148595,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,2.1985728027176714e-17,3.41524790467134e-17,-1.3615795072527016e-07],"qvel":[-0.00015280720849954315,0.00012544617479518045,0.0037907235176469385,-0.004259616930388891,9.848953488634312e-06,-0.0001604695789882375,-2.6639677542922894e-06,-6.354621859763398e-08,-2.6441640697808797e-06,2.675183223016973e-06,-2.6425004287872464e-06,7.28462539775087e-09,-2.2234688997642955e-06,2.785489879407931e-06,-4.0461529696562124e-17,2.0936706456055712e-17,1.2050938066755874e-14,-6.108851132937285e-17,-1.429158770446556e-15,-5.923318157247194e-09],"joint_position_rad":[-1.9827832342685476,-1.5680942029337657,1.634806336540399,-1.637419337320046,-1.5707988130967436,-0.4119848943380337],"joint_velocity_rad_s":[-0.00015280720849954315,0.00012544617479518045,0.0037907235176469385,-0.004259616930388891,9.848953488634312e-06,-0.0001604695789882375],"linkage_position_rad":[0.002934140398516819,0.00015631473064107632,0.003194004769296178,-0.0034298304079301853,0.0029341355305766113,0.00015629893126494626,0.0031982847204498083,-0.0034385514246148595],"tcp_position_m":[0.0743262639343919,0.5047227647422026,0.3060577741150595],"tcp_quaternion_wxyz":[1.7413295271954064e-05,0.7071074921953319,0.7071060687718295,-4.103722071439394e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,2.1985728027176714e-17,3.41524790467134e-17,-1.3615795072527016e-07],"object_linear_velocity_m_s":[-4.0461529696562124e-17,2.0936706456055712e-17,1.2050938066755874e-14],"object_angular_velocity_rad_s":[-6.108890091662149e-17,-1.429158753550674e-15,-5.923318157247198e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313509423757964,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828130713320262,-1.578582527995758,1.6251040485813364,-1.643092868432377,-1.5707954915465514,-0.41201666574354406,0.0],"actuator_force":[0.001448756442641752,-21.026828593902792,-20.920865325183968,-2.4108038631266027,0.0006758797472912192,0.0001612551436380727,-0.2933872641137561],"issued_joint_targets_rad":[-1.9828131107330957,-1.5680776489934896,1.635552517239866,-1.6382671399661197,-1.5707966944374914,-0.41201671110931914],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.460000000000196,"joint_targets_rad":[-1.9828131107330957,-1.5680776489934896,1.635552517239866,-1.6382671399661197,-1.5707966944374914,-0.41201671110931914],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.480000000000185,"qpos":[-1.9827861361100392,-1.568091885792351,1.6348782971367217,-1.6375002555422649,-1.570798621907764,-0.41198794379930737,0.002934089665169909,0.0001563134571559166,0.0031939544347356404,-0.0034297793711498426,0.002934085252955857,0.00015629912372716598,0.0031982429690428815,-0.0034384982192444745,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,2.560985051341175e-17,1.973909076894697e-17,-1.3660400384211783e-07],"qvel":[-0.00013811264305131098,0.0001084323868464402,0.0034274683043212916,-0.0038561628504035473,9.14135714002807e-06,-0.00014529716609074057,-2.413638739378184e-06,-5.73554560103268e-08,-2.396126321667761e-06,2.4229203062074205e-06,-2.3942509877313565e-06,6.6271097654195555e-09,-2.0155527134421124e-06,2.523018097255188e-06,-2.4814985438666292e-17,3.018692913320605e-17,1.1672074459602538e-14,-5.66740398663226e-16,-1.1962014641709635e-15,-2.380988034592194e-08],"joint_position_rad":[-1.9827861361100392,-1.568091885792351,1.6348782971367217,-1.6375002555422649,-1.570798621907764,-0.41198794379930737],"joint_velocity_rad_s":[-0.00013811264305131098,0.0001084323868464402,0.0034274683043212916,-0.0038561628504035473,9.14135714002807e-06,-0.00014529716609074057],"linkage_position_rad":[0.002934089665169909,0.0001563134571559166,0.0031939544347356404,-0.0034297793711498426,0.002934085252955857,0.00015629912372716598,0.0031982429690428815,-0.0034384982192444745],"tcp_position_m":[0.07432798062180102,0.5047232479929544,0.30602938332283536],"tcp_quaternion_wxyz":[1.611296871453011e-05,0.7071074401104179,0.7071061210584514,-3.7980703338287905e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,2.560985051341175e-17,1.973909076894697e-17,-1.3660400384211783e-07],"object_linear_velocity_m_s":[-2.4814985438666292e-17,3.018692913320605e-17,1.1672074459602538e-14],"object_angular_velocity_rad_s":[-5.667407264149948e-16,-1.1962013081133697e-15,-2.380988034592196e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313509787299186,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828131094855437,-1.578582790457255,1.6251046072837316,-1.6430935610061346,-1.5707954524027004,-0.41201671121529715,0.0],"actuator_force":[0.0012983062115381472,-21.025182284546645,-20.918367027708882,-2.4110364468946273,0.0006706168178425287,0.00014600861416624866,-0.2933847064576528],"issued_joint_targets_rad":[-1.9828131450151478,-1.568077885027227,1.6355529913219844,-1.6382677461266726,-1.5707966596004523,-0.4120167522808823],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.480000000000185,"joint_targets_rad":[-1.9828131450151478,-1.568077885027227,1.6355529913219844,-1.6382677461266726,-1.5707966596004523,-0.4120167522808823],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.500000000000174,"qpos":[-1.9827887589549522,-1.5680898857677885,1.6349433625097707,-1.6375735094276715,-1.5707984445554715,-0.41199070493294604,0.0029340437086845645,0.00015631230738467336,0.0031939088356597685,-0.0034297331532568,0.0029340397083742137,0.0001562992989930864,0.0031982051350121304,-0.003438450036749841,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,2.380481981249897e-17,8.803942874114967e-18,-1.3679289127647656e-07],"qvel":[-0.00012483373422662864,9.351365697477066e-05,0.003099054126797237,-0.0034909147406029847,8.47894731332388e-06,-0.00013155926529754484,-2.185943260047919e-06,-5.176899879062739e-08,-2.170442428445225e-06,2.1936182304022643e-06,-2.1684325398382258e-06,6.0306793999657216e-09,-1.8261618774247011e-06,2.2844365206998284e-06,4.311069125306672e-17,9.260851603959425e-17,1.1314027534160926e-14,4.9596731315604385e-15,-3.9605549472983446e-15,-9.570824781611465e-08],"joint_position_rad":[-1.9827887589549522,-1.5680898857677885,1.6349433625097707,-1.6375735094276715,-1.5707984445554715,-0.41199070493294604],"joint_velocity_rad_s":[-0.00012483373422662864,9.351365697477066e-05,0.003099054126797237,-0.0034909147406029847,8.47894731332388e-06,-0.00013155926529754484],"linkage_position_rad":[0.0029340437086845645,0.00015631230738467336,0.0031939088356597685,-0.0034297331532568,0.0029340397083742137,0.0001562992989930864,0.0031982051350121304,-0.003438450036749841],"tcp_position_m":[0.0743295342396991,0.50472369220625,0.3060037687788594],"tcp_quaternion_wxyz":[1.49015536522e-05,0.7071073913098354,0.7071061700329586,-3.5132075094201394e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,2.380481981249897e-17,8.803942874114967e-18,-1.3679289127647656e-07],"object_linear_velocity_m_s":[4.311069125306672e-17,9.260851603959425e-17,1.1314027534160926e-14],"object_angular_velocity_rad_s":[4.959672046323513e-15,-3.960556299637619e-15,-9.570824781611473e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351011684417,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828131439975871,-1.5785830317252842,1.6251051178328133,-1.6430941880351642,-1.570795416977722,-0.4120167523788391,0.0],"actuator_force":[0.0011634084212346352,-21.023697377781446,-20.916111004633876,-2.4112478296859763,0.0006658941433670407,0.00013220358320609193,-0.2933823989739395],"issued_joint_targets_rad":[-1.9828131760487577,-1.5680781031325284,1.6355534245427124,-1.6382682944531297,-1.5707966280834917,-0.4120167895526542],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.500000000000174,"joint_targets_rad":[-1.9828131760487577,-1.5680781031325284,1.6355534245427124,-1.6382682944531297,-1.5707966280834917,-0.4120167895526542],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.520000000000163,"qpos":[-1.9827911296741985,-1.568088163583573,1.6350021939074793,-1.6376398247771369,-1.570798280143227,-0.4119932049997269,0.0029340020953410144,0.000156311269301104,0.0031938675426624163,-0.0034296913144286944,0.0029339984673268206,0.00015629945859140843,0.0031981708669562,-0.0034384064181197005,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,3.2054228135215614e-17,-6.199293070760861e-18,-1.3715578791534706e-07],"qvel":[-0.00011283388356428826,8.044824831065448e-05,0.0028021342337217147,-0.003160255524362788,7.859572505373123e-06,-0.00011912025485523954,-1.979002197356917e-06,-4.6727674645149396e-08,-1.965270054966265e-06,1.9853415308699113e-06,-1.9631858870375984e-06,5.489314428623125e-09,-1.6538196958873665e-06,2.0677280404856597e-06,8.386061699106334e-18,3.797557503669902e-17,1.1191903001452161e-14,-8.412878745011769e-16,1.201928550544902e-17,-1.0357300713372999e-08],"joint_position_rad":[-1.9827911296741985,-1.568088163583573,1.6350021939074793,-1.6376398247771369,-1.570798280143227,-0.4119932049997269],"joint_velocity_rad_s":[-0.00011283388356428826,8.044824831065448e-05,0.0028021342337217147,-0.003160255524362788,7.859572505373123e-06,-0.00011912025485523954],"linkage_position_rad":[0.0029340020953410144,0.000156311269301104,0.0031938675426624163,-0.0034296913144286944,0.0029339984673268206,0.00015629945859140843,0.0031981708669562,-0.0034384064181197005],"tcp_position_m":[0.0743309402880591,0.5047241003946887,0.30598065893486703],"tcp_quaternion_wxyz":[1.3774017418186346e-05,0.7071073456576551,0.7071062158348829,-3.247973431694366e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,3.2054228135215614e-17,-6.199293070760861e-18,-1.3715578791534706e-07],"object_linear_velocity_m_s":[8.386061699106334e-18,3.797557503669902e-17,1.1191903001452161e-14],"object_angular_velocity_rad_s":[-8.41287871075701e-16,1.2019516944441706e-17,-1.035730071337301e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313510415422882,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828131752187788,-1.5785832529628512,1.6251055838770332,-1.6430947557594515,-1.5707953849156844,-0.4120167896431566,0.0],"actuator_force":[0.0010424642650832538,-21.02235805788041,-20.914073754380752,-2.4114399387210597,0.0006616565208332759,0.0001197037706788251,-0.2933803171929698],"issued_joint_targets_rad":[-1.982813204221591,-1.5680783049375089,1.6355538211443694,-1.6382687917740513,-1.5707965993342905,-0.41201682337651535],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.520000000000163,"joint_targets_rad":[-1.982813204221591,-1.5680783049375089,1.6355538211443694,-1.6382687917740513,-1.5707965993342905,-0.41201682337651535],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.540000000000152,"qpos":[-1.9827932725571549,-1.5680866845801495,1.63505538918035,-1.637699858795165,-1.5707981277976693,-0.4119954686905721,0.0029339644277042907,0.00015631033203928173,0.0031938301622800942,-0.0034296534520048393,0.0029339611362090732,0.00015629960394905596,0.003198139842137052,-0.0034383669433911204,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,2.8810507398352075e-17,9.416523773002376e-18,-1.3754642437494997e-07],"qvel":[-0.0001019900487426295,6.901734071656592e-05,0.0025336894192058857,-0.002860916281743172,7.2821428409060446e-06,-0.00010785770913738137,-1.791053773701635e-06,-4.217282691084404e-08,-1.7788951540467181e-06,1.7962664595388161e-06,-1.7767709397107693e-06,4.992581206659508e-09,-1.497182611928369e-06,1.8709988281650073e-06,-2.2309136997621655e-17,3.6802685369451343e-17,1.1125289619974655e-14,-3.0691695933936693e-16,1.431213296282757e-15,-4.163309890598001e-08],"joint_position_rad":[-1.9827932725571549,-1.5680866845801495,1.63505538918035,-1.637699858795165,-1.5707981277976693,-0.4119954686905721],"joint_velocity_rad_s":[-0.0001019900487426295,6.901734071656592e-05,0.0025336894192058857,-0.002860916281743172,7.2821428409060446e-06,-0.00010785770913738137],"linkage_position_rad":[0.0029339644277042907,0.00015631033203928173,0.0031938301622800942,-0.0034296534520048393,0.0029339611362090732,0.00015629960394905596,0.003198139842137052,-0.0034383669433911204],"tcp_position_m":[0.07433221279054986,0.5047244753505564,0.3059598087996303],"tcp_quaternion_wxyz":[1.272544512848401e-05,0.7071073030135944,0.7071062586076877,-3.0012345695395314e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,2.8810507398352075e-17,9.416523773002376e-18,-1.3754642437494997e-07],"object_linear_velocity_m_s":[-2.2309136997621655e-17,3.6802685369451343e-17,1.1125289619974655e-14],"object_angular_velocity_rad_s":[-3.069165664068906e-16,1.431213383112307e-15,-4.163309890598006e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313510685821032,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828132035446044,-1.57858345614414,1.6251060100187216,-1.6430952710991331,-1.5707953556613798,-0.41201682346009444,0.0],"actuator_force":[0.0009340445981251833,-21.02115006426766,-20.91223409093982,-2.4116145238097033,0.000657853860616342,0.00010838615256147932,-0.2933784390721011],"issued_joint_targets_rad":[-1.9828132299985783,-1.5680784925356603,1.6355541854793167,-1.6382692444676654,-1.5707965727018827,-0.41201685425401713],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.540000000000152,"joint_targets_rad":[-1.9828132299985783,-1.5680784925356603,1.6355541854793167,-1.6382692444676654,-1.5707965727018827,-0.41201685425401713],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.56000000000014,"qpos":[-1.9827952095688102,-1.5680854182505741,1.6351034889149365,-1.6377542065936688,-1.570797986657391,-0.4119975183776017,0.002933930342390704,0.00015630948582479742,0.0031937963346185512,-0.003429619198293024,0.0029339273550742628,0.000156299736351099,0.003198111764412671,-0.0034383312291444094,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,2.0753439218169082e-17,1.2420501462842454e-17,-1.3770428445496913e-07],"qvel":[-9.219154794781509e-05,5.902421824069807e-05,0.002290992316613117,-0.0025899378701251764,6.746076422504315e-06,-9.766116511378507e-05,-1.620462141903692e-06,-3.80570163331888e-08,-1.6097212680278135e-06,1.6247181001591637e-06,-1.6075676449696605e-06,4.533638968430663e-09,-1.35495278575426e-06,1.6925078218760504e-06,-1.2661050530449376e-17,2.423829949476975e-17,1.1172474098521226e-14,-8.943566912987788e-16,1.250506235956531e-16,-4.505427012177067e-09],"joint_position_rad":[-1.9827952095688102,-1.5680854182505741,1.6351034889149365,-1.6377542065936688,-1.570797986657391,-0.4119975183776017],"joint_velocity_rad_s":[-9.219154794781509e-05,5.902421824069807e-05,0.002290992316613117,-0.0025899378701251764,6.746076422504315e-06,-9.766116511378507e-05],"linkage_position_rad":[0.002933930342390704,0.00015630948582479742,0.0031937963346185512,-0.003429619198293024,0.0029339273550742628,0.000156299736351099,0.003198111764412671,-0.0034383312291444094],"tcp_position_m":[0.07433336443107692,0.504724819649521,0.30594099734695634],"tcp_quaternion_wxyz":[1.1751051445560538e-05,0.707107263235194,0.707106298496633,-2.771888617264956e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,2.0753439218169082e-17,1.2420501462842454e-17,-1.3770428445496913e-07],"object_linear_velocity_m_s":[-1.2661050530449376e-17,2.423829949476975e-17,1.1172474098521226e-14],"object_angular_velocity_rad_s":[-8.943566569706519e-16,1.2505087009615117e-16,-4.505427012177072e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313510930598776,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982813229446374,-1.5785836436612162,1.6251064009353133,-1.6430957405200082,-1.5707953285609957,-0.41201685433117013,0.0],"actuator_force":[0.0008368640515072912,-21.020060508580627,-20.91057288589127,-2.411773176157112,0.0006544405554222976,9.813972715733144e-05,-0.29337674472431396],"issued_joint_targets_rad":[-1.9828132533289458,-1.5680786660011585,1.6355545189021319,-1.6382696556811847,-1.5707965485529962,-0.4120168821624028],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.56000000000014,"joint_targets_rad":[-1.9828132533289458,-1.5680786660011585,1.6355545189021319,-1.6382696556811847,-1.5707965485529962,-0.4120168821624028],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.58000000000013,"qpos":[-1.9827969605228206,-1.5680843376223994,1.6351469816817925,-1.6378034068137735,-1.5707978559659395,-0.41199937428880057,0.002933899507642719,0.000156308721822208,0.003193765730581044,-0.003429588217946954,0.0029338967952477796,0.00015629985686863634,0.0031980863621909384,-0.0034382989255542116,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,1.6967484049342495e-17,4.0248731629092415e-17,-1.381424569870165e-07],"qvel":[-8.333611677053037e-05,5.030314731181023e-05,0.002071564868190075,-0.0023446287489731414,6.246153644229399e-06,-8.842834122909369e-05,-1.4657264035650154e-06,-3.434639766102558e-08,-1.456205731253251e-06,1.4692104798192442e-06,-1.4540855369498585e-06,4.1171708015257996e-09,-1.225807099511997e-06,1.5306910542271166e-06,-4.910443142379473e-17,2.3292303590577155e-17,1.1129452956317002e-14,-6.951285021552142e-16,2.5450431786889986e-16,-1.8110402855197336e-08],"joint_position_rad":[-1.9827969605228206,-1.5680843376223994,1.6351469816817925,-1.6378034068137735,-1.5707978559659395,-0.41199937428880057],"joint_velocity_rad_s":[-8.333611677053037e-05,5.030314731181023e-05,0.002071564868190075,-0.0023446287489731414,6.246153644229399e-06,-8.842834122909369e-05],"linkage_position_rad":[0.002933899507642719,0.000156308721822208,0.003193765730581044,-0.003429588217946954,0.0029338967952477796,0.00015629985686863634,0.0031980863621909384,-0.0034382989255542116],"tcp_position_m":[0.07433440668903493,0.5047251356880893,0.3059240251949714],"tcp_quaternion_wxyz":[1.0846268323800957e-05,0.7071072261772656,0.7071063356493615,-2.5588741741138098e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,1.6967484049342495e-17,4.0248731629092415e-17,-1.381424569870165e-07],"object_linear_velocity_m_s":[-4.910443142379473e-17,2.3292303590577155e-17,1.1129452956317002e-14],"object_angular_velocity_rad_s":[-6.951284332973264e-16,2.5450451053698503e-16,-1.811040285519736e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313511152109316,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828132528785178,-1.5785838158478112,1.6251067582748384,-1.6430961672524025,-1.570795303978746,-0.4120168822335947,0.0],"actuator_force":[0.0007497353135477169,-21.019077709747762,-20.909072761184234,-2.411917344417134,0.0006513782323054329,8.886172585675922e-05,-0.29337521608482237],"issued_joint_targets_rad":[-1.9828132745274634,-1.5680788257711278,1.6355548236314696,-1.6382700293329127,-1.5707965265754384,-0.4120169075077821],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.58000000000013,"joint_targets_rad":[-1.9828132745274634,-1.5680788257711278,1.6355548236314696,-1.6382700293329127,-1.5707965265754384,-0.4120169075077821],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.600000000000119,"qpos":[-1.9827985433274649,-1.568083418869798,1.6351863091202417,-1.637847947076693,-1.570797735004082,-0.4120010547502189,0.0029338716204554073,0.00015630803200690702,0.0031937380501318472,-0.003429560204595922,0.002933869156529741,0.00015629996654210784,0.003198063387696596,-0.003438269713288035,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,8.44388754737216e-18,4.613765879609173e-17,-1.38435066479238e-07],"qvel":[-7.533322190948764e-05,4.270552267952257e-05,0.00187317219804005,-0.0021225576290638984,5.780715737638188e-06,-8.006872815965273e-05,-1.3254481623397731e-06,-3.0998112549413065e-08,-1.3169936811299627e-06,1.3282969227798945e-06,-1.3149376113643324e-06,3.741277104691276e-09,-1.108631907338639e-06,1.3840387542240677e-06,-1.0059602393165716e-16,-2.5035806285682628e-18,1.1130840735097786e-14,-1.2198946419053822e-15,3.0662189520513004e-15,-7.279813671183708e-08],"joint_position_rad":[-1.9827985433274649,-1.568083418869798,1.6351863091202417,-1.637847947076693,-1.570797735004082,-0.4120010547502189],"joint_velocity_rad_s":[-7.533322190948764e-05,4.270552267952257e-05,0.00187317219804005,-0.0021225576290638984,5.780715737638188e-06,-8.006872815965273e-05],"linkage_position_rad":[0.0029338716204554073,0.00015630803200690702,0.0031937380501318472,-0.003429560204595922,0.002933869156529741,0.00015629996654210784,0.003198063387696596,-0.003438269713288035],"tcp_position_m":[0.07433534995998317,0.5047254257007528,0.30590871246201967],"tcp_quaternion_wxyz":[1.0006717356939774e-05,0.7071071916932399,0.7071063702145886,-2.361172996924364e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,8.44388754737216e-18,4.613765879609173e-17,-1.38435066479238e-07],"object_linear_velocity_m_s":[-1.0059602393165716e-16,-2.5035806285682628e-18,1.1130840735097786e-14],"object_angular_velocity_rad_s":[-1.2198937996783592e-15,3.0662192910329783e-15,-7.279813671183718e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313511352495725,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982813274160048,-1.578583973366219,1.625107084520779,-1.643096555293427,-1.5707952816000585,-0.41201690757344744,0.0],"actuator_force":[0.0006716235975545715,-21.018191201913396,-20.907718078141443,-2.4120483454606756,0.0006486304380359798,8.046120171911753e-05,-0.2933738369203889],"issued_joint_targets_rad":[-1.9828132932855627,-1.5680789678869669,1.6355550955493046,-1.638270361595635,-1.570796507724415,-0.41201693007160395],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.600000000000119,"joint_targets_rad":[-1.9828132932855627,-1.5680789678869669,1.6355550955493046,-1.638270361595635,-1.570796507724415,-0.41201693007160395],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.620000000000108,"qpos":[-1.9827999741021118,-1.5680826405998427,1.6352218698876153,-1.6378882681372355,-1.5707976232008376,-0.412002576313291,0.0029338464049616323,0.00015630740920551727,0.003193713019426129,-0.003429534879719161,0.00293384416547704,0.00015630006611731603,0.003198042613282645,-0.003438243301889186,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,1.8495833461503733e-18,4.2497160829700475e-17,-1.3871109492748125e-07],"qvel":[-6.809831697245279e-05,3.6119483685811724e-05,0.00169376583951004,-0.0019214898329576932,5.342445645321199e-06,-7.249762494761499e-05,-1.1983687964842239e-06,-2.8005872491628866e-08,-1.190774497197991e-06,1.2007650271109275e-06,-1.1888554363121233e-06,3.435028741262069e-09,-1.0020854810290954e-06,1.251279607721873e-06,-5.125165505676203e-17,1.6994349775054834e-18,1.0996226193361983e-14,-2.239567687511823e-16,-1.763105821437361e-15,-7.878027343541012e-09],"joint_position_rad":[-1.9827999741021118,-1.5680826405998427,1.6352218698876153,-1.6378882681372355,-1.5707976232008376,-0.412002576313291],"joint_velocity_rad_s":[-6.809831697245279e-05,3.6119483685811724e-05,0.00169376583951004,-0.0019214898329576932,5.342445645321199e-06,-7.249762494761499e-05],"linkage_position_rad":[0.0029338464049616323,0.00015630740920551727,0.003193713019426129,-0.003429534879719161,0.00293384416547704,0.00015630006611731603,0.003198042613282645,-0.003438243301889186],"tcp_position_m":[0.07433620366570699,0.5047256917978091,0.3058948968902955],"tcp_quaternion_wxyz":[9.228354313544113e-06,0.707107159631344,0.7071064023459518,-2.177831695703213e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,1.8495833461503733e-18,4.2497160829700475e-17,-1.3871109492748125e-07],"object_linear_velocity_m_s":[-5.125165505676203e-17,1.6994349775054834e-18,1.0996226193361983e-14],"object_angular_velocity_rad_s":[-2.2395725854543954e-16,-1.7631057592775761e-15,-7.878027343541024e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313511533733304,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828132929858608,-1.5785841124596014,1.625107375794272,-1.6430969008889909,-1.5707952623782329,-0.4120169301321491,0.0],"actuator_force":[0.0006015592912262946,-21.017391512991253,-20.906494522490902,-2.412167392581864,0.0006461667378516722,7.285306571702677e-05,-0.2933725924007696],"issued_joint_targets_rad":[-1.9828133102615288,-1.568079096356183,1.6355553409253207,-1.6382706601967083,-1.5707964906929868,-0.41201695049614745],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.620000000000108,"joint_targets_rad":[-1.9828133102615288,-1.568079096356183,1.6355553409253207,-1.6382706601967083,-1.5707964906929868,-0.41201695049614745],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.640000000000096,"qpos":[-1.9828012674841629,-1.568081984155745,1.635254024748182,-1.6379247693964716,-1.5707975199177142,-0.4120039540005498,0.002933823609700451,0.0001563068468248057,0.0031936903902861995,-0.003429511989289599,0.002933821573152787,0.00015630015691802955,0.003198023835532899,-0.0034382194274424362,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,2.926224378749855e-18,3.102488125452522e-17,-1.391074025140891e-07],"qvel":[-6.155971995313644e-05,3.0410373300969084e-05,0.001531543227268247,-0.0017394563789174184,4.934982025975139e-06,-6.564239985755655e-05,-1.0832445965014448e-06,-2.5290300962581727e-08,-1.0764666606308695e-06,1.0852134651680694e-06,-1.074639375046755e-06,3.145237092784828e-09,-9.056578983897758e-07,1.130997679635601e-06,-4.37736285932235e-17,6.133037131223961e-18,1.0954592829938543e-14,1.6693126920467253e-16,-1.157276516889014e-15,-3.1667197917138306e-08],"joint_position_rad":[-1.9828012674841629,-1.568081984155745,1.635254024748182,-1.6379247693964716,-1.5707975199177142,-0.4120039540005498],"joint_velocity_rad_s":[-6.155971995313644e-05,3.0410373300969084e-05,0.001531543227268247,-0.0017394563789174184,4.934982025975139e-06,-6.564239985755655e-05],"linkage_position_rad":[0.002933823609700451,0.0001563068468248057,0.0031936903902861995,-0.003429511989289599,0.002933821573152787,0.00015630015691802955,0.003198023835532899,-0.0034382194274424362],"tcp_position_m":[0.07433697633514742,0.504725935911117,0.30588243204642623],"tcp_quaternion_wxyz":[8.507236027247251e-06,0.7071071298562737,0.7071064321803826,-2.0079318275671157e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,2.926224378749855e-18,3.102488125452522e-17,-1.391074025140891e-07],"object_linear_velocity_m_s":[-4.37736285932235e-17,6.133037131223961e-18,1.0954592829938543e-14],"object_angular_velocity_rad_s":[1.6693094526826377e-16,-1.1572765631463908e-15,-3.166719791713835e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313511697581209,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828133100170588,-1.5785842373059746,1.6251076385806351,-1.6430972118362417,-1.5707952450042344,-0.41201695055195175,0.0],"actuator_force":[0.0005388221893554146,-21.016670449780122,-20.905389626001124,-2.412275581993299,0.0006439585373527734,6.596428477223526e-05,-0.2933714697228042],"issued_joint_targets_rad":[-1.9828133256456029,-1.5680792137608772,1.6355555640170425,-1.6382709302403666,-1.570796475253512,-0.41201696900191576],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.640000000000096,"joint_targets_rad":[-1.9828133256456029,-1.5680792137608772,1.6355555640170425,-1.6382709302403666,-1.570796475253512,-0.41201696900191576],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.660000000000085,"qpos":[-1.98280243670175,-1.5680814333118989,1.6352831000777186,-1.6379578126418348,-1.5707974245455578,-0.4120052014176932,0.0029338030063152673,0.00015630633903531265,0.0031936699360344298,-0.0034294913032172037,0.002933801153257228,0.0001563002396936818,0.00319800686623929,-0.003438197850109656,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,3.1611145713458656e-18,1.901040636640486e-17,-1.3922747492110524e-07],"qvel":[-5.565029882465226e-05,2.5463921916561832e-05,0.001384866020360189,-0.0015746643903092735,4.5566949122868275e-06,-5.943544749793597e-05,-9.789914154230669e-07,-2.2829679299608448e-08,-9.729639659607034e-07,9.805838303746679e-07,-9.71215884315296e-07,2.8676154750586776e-09,-8.184254096711389e-07,1.0220902051240275e-06,-2.4501550590219242e-17,3.3683145970649354e-18,1.0960143945061673e-14,-5.833743188822858e-17,-9.743679919894232e-16,-3.426942808606052e-09],"joint_position_rad":[-1.98280243670175,-1.5680814333118989,1.6352831000777186,-1.6379578126418348,-1.5707974245455578,-0.4120052014176932],"joint_velocity_rad_s":[-5.565029882465226e-05,2.5463921916561832e-05,0.001384866020360189,-0.0015746643903092735,4.5566949122868275e-06,-5.943544749793597e-05],"linkage_position_rad":[0.0029338030063152673,0.00015630633903531265,0.0031936699360344298,-0.0034294913032172037,0.002933801153257228,0.0001563002396936818,0.00319800686623929,-0.003438197850109656],"tcp_position_m":[0.07433767567179629,0.5047261597971293,0.3058711858236466],"tcp_quaternion_wxyz":[7.839578096494375e-06,0.70710710223529,0.7071064598520386,-1.850591364626105e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,3.1611145713458656e-18,1.901040636640486e-17,-1.3922747492110524e-07],"object_linear_velocity_m_s":[-2.4501550590219242e-17,3.3683145970649354e-18,1.0960143945061673e-14],"object_angular_velocity_rad_s":[-5.83377033361119e-17,-9.743679757233745e-16,-3.4269428086060572e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351184567639,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828133254461837,-1.5785843506295485,1.6251078773316667,-1.6430974933059637,-1.5707952292484062,-0.41201696905333296,0.0],"actuator_force":[0.0004826306631002808,-21.01602020406608,-20.9043919002479,-2.4123738930334184,0.0006419790845484385,5.9726929919179383e-05,-0.29337045694212605],"issued_joint_targets_rad":[-1.9828133395461736,-1.5680793214060618,1.6355557677275578,-1.6382711761381152,-1.570796461297938,-0.4120169857315276],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.660000000000085,"joint_targets_rad":[-1.9828133395461736,-1.5680793214060618,1.6355557677275578,-1.6382711761381152,-1.570796461297938,-0.4120169857315276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.680000000000074,"qpos":[-1.982803493697759,-1.5680809738891146,1.6353093910459717,-1.6379877255614241,-1.5707973365175592,-0.41200633088033345,0.002933784387178237,0.0001563058805253184,0.003193651450553486,-0.0034294726122312364,0.0029337827000067,0.0001563003150820809,0.0031979915340508043,-0.003438178351640584,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,6.774749409848352e-18,2.0770450496107975e-17,-1.3971012832043416e-07],"qvel":[-5.030912325280864e-05,2.1184498029601343e-05,0.0012522477260475634,-0.0014254889237312418,4.205543181564248e-06,-5.381528505837645e-05,-8.846213186245644e-07,-2.0601278153738534e-08,-8.792504569208431e-07,8.858990432606188e-07,-8.776026203301632e-07,2.6058028624481053e-09,-7.395172048193337e-07,9.235171393387996e-07,-2.5908150286602915e-17,9.627870271565302e-18,1.0904632793830412e-14,-1.9919197008626362e-16,-6.943324625681316e-16,-1.3775234768612605e-08],"joint_position_rad":[-1.982803493697759,-1.5680809738891146,1.6353093910459717,-1.6379877255614241,-1.5707973365175592,-0.41200633088033345],"joint_velocity_rad_s":[-5.030912325280864e-05,2.1184498029601343e-05,0.0012522477260475634,-0.0014254889237312418,4.205543181564248e-06,-5.381528505837645e-05],"linkage_position_rad":[0.002933784387178237,0.0001563058805253184,0.003193651450553486,-0.0034294726122312364,0.0029337827000067,0.0001563003150820809,0.0031979915340508043,-0.003438178351640584],"tcp_position_m":[0.0743383086445357,0.5047263650840309,0.3058610390404046],"tcp_quaternion_wxyz":[7.221770545083954e-06,0.7071070766372636,0.7071064854932794,-1.7049669227444923e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,6.774749409848352e-18,2.0770450496107975e-17,-1.3971012832043416e-07],"object_linear_velocity_m_s":[-2.5908150286602915e-17,9.627870271565302e-18,1.0904632793830412e-14],"object_angular_velocity_rad_s":[-1.9919216466904671e-16,-6.943324067231866e-16,-1.377523476861263e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313511979508242,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828133393835006,-1.5785844538547564,1.6251080951254515,-1.643097749772893,-1.5707952150008184,-0.41201698577888707,0.0],"actuator_force":[0.00043227781816312927,-21.015433730495715,-20.9034909314596,-2.4124632133612067,0.0006402040522743846,5.4079229016679164e-05,-0.2933695432395521],"issued_joint_targets_rad":[-1.9828133522608604,-1.568079424159605,1.6355559613193198,-1.638271412080344,-1.5707964482305037,-0.41201700098617944],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.680000000000074,"joint_targets_rad":[-1.9828133522608604,-1.568079424159605,1.6355559613193198,-1.638271412080344,-1.5707964482305037,-0.41201700098617944],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.700000000000063,"qpos":[-1.9828044492931167,-1.5680805938004112,1.6353331652079093,-1.638014805896203,-1.570797255261492,-0.41200735355175355,0.002933767563069797,0.0001563054663668172,0.0031936347462901936,-0.003429455725622298,0.0029337660260648647,0.00015630038394962443,0.0031979776849664684,-0.0034381607332552447,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,1.0832742682819023e-17,1.9688233363901028e-17,-1.4003216130118273e-07],"qvel":[-4.548210856814894e-05,1.7471212138260733e-05,0.0011323746975748985,-0.0012905047441386496,3.881859559088245e-06,-4.872705051428976e-05,-7.991838708780573e-07,-1.8535200645835366e-08,-7.943658276673986e-07,8.001487341090053e-07,-7.928933749490484e-07,2.3159869592795402e-09,-6.685556980783947e-07,8.341842914744267e-07,-4.6027637796779733e-17,1.913530380259012e-17,1.0803324942833367e-14,1.0310345962467918e-15,6.981391114010914e-16,-5.5372121312860907e-08],"joint_position_rad":[-1.9828044492931167,-1.5680805938004112,1.6353331652079093,-1.638014805896203,-1.570797255261492,-0.41200735355175355],"joint_velocity_rad_s":[-4.548210856814894e-05,1.7471212138260733e-05,0.0011323746975748985,-0.0012905047441386496,3.881859559088245e-06,-4.872705051428976e-05],"linkage_position_rad":[0.002933767563069797,0.0001563054663668172,0.0031936347462901936,-0.003429455725622298,0.0029337660260648647,0.00015630038394962443,0.0031979776849664684,-0.0034381607332552447],"tcp_position_m":[0.07433888157806016,0.5047265533084601,0.30585188411402164],"tcp_quaternion_wxyz":[6.650244886887127e-06,0.7071070529417213,0.7071065092256515,-1.5702263876191117e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,1.0832742682819023e-17,1.9688233363901028e-17,-1.4003216130118273e-07],"object_linear_velocity_m_s":[-4.6027637796779733e-17,1.913530380259012e-17,1.0803324942833367e-14],"object_angular_velocity_rad_s":[1.031034789590252e-15,6.981388238447237e-16,-5.5372121312861006e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512100415162,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828133521281557,-1.5785845519438546,1.6251083013817378,-1.6430979954893195,-1.5707952016638225,-0.4120170010297866,0.0],"actuator_force":[0.00038717334928151104,-21.014904771742295,-20.902677531372774,-2.412544322144413,0.0006386128787880807,4.896603491033602e-05,-0.29336871907050394],"issued_joint_targets_rad":[-1.9828133637714593,-1.5680795214266872,1.6355561424792748,-1.6382716329846554,-1.5707964365381129,-0.41201701481138175],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.700000000000063,"joint_targets_rad":[-1.9828133637714593,-1.5680795214266872,1.6355561424792748,-1.6382716329846554,-1.5707964365381129,-0.41201701481138175],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.720000000000052,"qpos":[-1.9828053132301178,-1.5680802823938647,1.6353546641401415,-1.638039322563288,-1.5707971802972742,-0.4120082795307741,0.0029337523640694603,0.00015630509264368854,0.0031936196548690452,-0.0034294404725591365,0.002933750962634549,0.0001563004464877368,0.003197965174687027,-0.0034381448174623827,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,1.1420658647601247e-17,1.5880536478002102e-17,-1.4024211558589784e-07],"qvel":[-4.1118983966244063e-05,1.425893565278002e-05,0.0010240066179291645,-0.0011683344019245026,3.5810075423020068e-06,-4.411996724242517e-05,-7.219025712754499e-07,-1.669502848404949e-08,-7.175993934200514e-07,7.226352267016373e-07,-7.162531806659148e-07,2.0665359096643024e-09,-6.041913137496497e-07,7.534517926008724e-07,-2.1250490305366314e-17,1.3251452224443643e-17,1.0771406030875396e-14,-4.99978306689193e-16,-6.667945473389485e-16,-5.9922287228221225e-09],"joint_position_rad":[-1.9828053132301178,-1.5680802823938647,1.6353546641401415,-1.638039322563288,-1.5707971802972742,-0.4120082795307741],"joint_velocity_rad_s":[-4.1118983966244063e-05,1.425893565278002e-05,0.0010240066179291645,-0.0011683344019245026,3.5810075423020068e-06,-4.411996724242517e-05],"linkage_position_rad":[0.0029337523640694603,0.00015630509264368854,0.0031936196548690452,-0.0034294404725591365,0.002933750962634549,0.0001563004464877368,0.003197965174687027,-0.0034381448174623827],"tcp_position_m":[0.07433940016719139,0.5047267258327142,0.30584362404555565],"tcp_quaternion_wxyz":[6.121732956876154e-06,0.7071070310230979,0.7071065311756405,-1.4456016191120844e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,1.1420658647601247e-17,1.5880536478002102e-17,-1.4024211558589784e-07],"object_linear_velocity_m_s":[-2.1250490305366314e-17,1.3251452224443643e-17,1.0771406030875396e-14],"object_angular_velocity_rad_s":[-4.999784939048498e-16,-6.667944069660222e-16,-5.992228722822134e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512209651328,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828133636631984,-1.5785846443818825,1.6251084939292926,-1.6430982254299364,-1.5707951897227226,-0.4120170148515202,0.0],"actuator_force":[0.0003467274254944641,-21.01442755029666,-20.901943068869514,-2.4126179931317893,0.0006371865215442085,4.4336351180618294e-05,-0.29336797555644073],"issued_joint_targets_rad":[-1.982813374171376,-1.5680796100870535,1.6355563068853454,-1.6382718332253632,-1.5707964259981972,-0.4120170273059275],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.720000000000052,"joint_targets_rad":[-1.982813374171376,-1.5680796100870535,1.6355563068853454,-1.6382718332253632,-1.5707964259981972,-0.4120170273059275],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.740000000000041,"qpos":[-1.9828060942978267,-1.5680800300397173,1.6353741056996989,-1.6380615182788643,-1.5707971111692396,-0.4120091179574627,0.0029337386352280034,0.00015630475534922516,0.003193606022386709,-0.003429426696665938,0.0029337373561206365,0.00015630050310919057,0.003197953875072829,-0.0034381304411684006,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,-1.1877514563090482e-17,1.869711005377592e-17,-1.4069335798546574e-07],"qvel":[-3.71750081832872e-05,1.150188749337482e-05,0.0009260136080110201,-0.0010577294908976013,3.302030876952045e-06,-3.9948370084764325e-05,-6.520491363789699e-07,-1.5072749915658364e-08,-6.482054028264216e-07,6.526367054870747e-07,-6.469465296934086e-07,1.8772602132087747e-09,-5.456438368335006e-07,6.805587900786519e-07,-2.4943998510125126e-17,-1.3584798384453141e-17,1.0732548225013523e-14,-1.0678326927496176e-15,-6.249261936324336e-16,-2.4086879196468115e-08],"joint_position_rad":[-1.9828060942978267,-1.5680800300397173,1.6353741056996989,-1.6380615182788643,-1.5707971111692396,-0.4120091179574627],"joint_velocity_rad_s":[-3.71750081832872e-05,1.150188749337482e-05,0.0009260136080110201,-0.0010577294908976013,3.302030876952045e-06,-3.9948370084764325e-05],"linkage_position_rad":[0.0029337386352280034,0.00015630475534922516,0.003193606022386709,-0.003429426696665938,0.0029337373561206365,0.00015630050310919057,0.003197953875072829,-0.0034381304411684006],"tcp_position_m":[0.07433986956286984,0.5047268839306484,0.3058361713692674],"tcp_quaternion_wxyz":[5.6332442428163414e-06,0.7071070107577111,0.707106551467716,-1.3303919575208697e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,-1.1877514563090482e-17,1.869711005377592e-17,-1.4069335798546574e-07],"object_linear_velocity_m_s":[-2.4943998510125126e-17,-1.3584798384453141e-17,1.0732548225013523e-14],"object_angular_velocity_rad_s":[-1.0678328694962172e-15,-6.249258937306599e-16,-2.4086879196468164e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512308329516,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828133740830556,-1.5785847281211918,1.6251086685740201,-1.6430984340210295,-1.570795178953444,-0.41201702734286066,0.0],"actuator_force":[0.0003104328156950942,-21.013996917946315,-20.901279694562163,-2.412684921992877,0.0006359048099966458,4.014430948018344e-05,-0.2933673045891016],"issued_joint_targets_rad":[-1.9828133835786346,-1.568079690561978,1.6355564556797788,-1.6382720143134248,-1.5707964164867583,-0.41201703860974553],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.740000000000041,"joint_targets_rad":[-1.9828133835786346,-1.568079690561978,1.6355564556797788,-1.6382720143134248,-1.5707964164867583,-0.41201703860974553],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.76000000000003,"qpos":[-1.9828068004574997,-1.5680798282473642,1.6353916868154017,-1.6380816127181843,-1.5707970474492312,-0.41200987710902076,0.0029337262354834416,0.00015630445077635804,0.0031935937090107115,-0.0034294142558106396,0.0029337250669385292,0.00015630055460008364,0.0031979436721523494,-0.0034381174563822836,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999911,-1.4377902777672356e-17,2.1561497686157107e-17,-1.4088444289421077e-07],"qvel":[-3.361002848678766e-05,9.144214093370913e-06,0.0008374002418106904,-0.0009575931819318261,3.0435411498945327e-06,-3.6171159356106635e-05,-5.888979982502904e-07,-1.3609688502086283e-08,-5.854599564592755e-07,5.893616738660689e-07,-5.842863080193508e-07,1.7111643226078835e-09,-4.926668074026879e-07,6.146614888816231e-07,-1.0582340678905761e-16,-3.436056239710013e-17,1.0746426012821337e-14,-1.7033543418373665e-15,6.442168993885442e-15,-9.682169627731812e-08],"joint_position_rad":[-1.9828068004574997,-1.5680798282473642,1.6353916868154017,-1.6380816127181843,-1.5707970474492312,-0.41200987710902076],"joint_velocity_rad_s":[-3.361002848678766e-05,9.144214093370913e-06,0.0008374002418106904,-0.0009575931819318261,3.0435411498945327e-06,-3.6171159356106635e-05],"linkage_position_rad":[0.0029337262354834416,0.00015630445077635804,0.0031935937090107115,-0.0034294142558106396,0.0029337250669385292,0.00015630055460008364,0.0031979436721523494,-0.0034381174563822836],"tcp_position_m":[0.07434029443899912,0.5047270287844969,0.3058294471551125],"tcp_quaternion_wxyz":[5.181978730508e-06,0.7071069920342149,0.7071065702139018,-1.2239415604453839e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999911,-1.4377902777672356e-17,2.1561497686157107e-17,-1.4088444289421077e-07],"object_linear_velocity_m_s":[-1.0582340678905761e-16,-3.436056239710013e-17,1.0746426012821337e-14],"object_angular_velocity_rad_s":[-1.7033525308097648e-15,6.442169471053269e-15,-9.682169627731832e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512397441812,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828133835065809,-1.5785848036451822,1.6251088265735165,-1.6430986228219766,-1.5707951692305706,-0.41201703864371836,0.0],"actuator_force":[0.00027791323236669996,-21.013608481272968,-20.900680580494736,-2.412745733702991,0.0006347552154011282,3.634858680356956e-05,-0.29336669919956715],"issued_joint_targets_rad":[-1.9828133920898432,-1.5680797635635884,1.6355565903128315,-1.638272178057848,-1.5707964079001402,-0.4120170488382829],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.76000000000003,"joint_targets_rad":[-1.9828133920898432,-1.5680797635635884,1.6355565903128315,-1.638272178057848,-1.5707964079001402,-0.4120170488382829],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.780000000000019,"qpos":[-1.982807438906828,-1.5680796696031132,1.6354075855587946,-1.6380998047649509,-1.5707969887371478,-0.4120105644804505,0.002933715037239593,0.0001563041757539531,0.003193582588210441,-0.0034294030216983767,0.0029337139686356527,0.00015630060146302856,0.0031979344608345397,-0.0034381057294878324,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-1.5108834259608977e-17,3.621548888159338e-17,-1.4125156139183778e-07],"qvel":[-3.038758695807567e-05,7.134772302265685e-06,0.0007572684015971816,-0.0008669347333483194,2.804195087580359e-06,-3.2751062615212574e-05,-5.318131335050732e-07,-1.2288439587348517e-08,-5.287375872054385e-07,5.321725077937984e-07,-5.276450154796809e-07,1.5604155255039671e-09,-4.447788125859158e-07,5.550963878510643e-07,-4.2559104583427445e-17,-1.786741337981306e-17,1.154578659055145e-14,8.0418568471961265e-16,-8.728841315750575e-16,-1.0477795245503186e-08],"joint_position_rad":[-1.982807438906828,-1.5680796696031132,1.6354075855587946,-1.6380998047649509,-1.5707969887371478,-0.4120105644804505],"joint_velocity_rad_s":[-3.038758695807567e-05,7.134772302265685e-06,0.0007572684015971816,-0.0008669347333483194,2.804195087580359e-06,-3.2751062615212574e-05],"linkage_position_rad":[0.002933715037239593,0.0001563041757539531,0.003193582588210441,-0.0034294030216983767,0.0029337139686356527,0.00015630060146302856,0.0031979344608345397,-0.0034381057294878324],"tcp_position_m":[0.0743406790259584,0.5047271614822507,0.3058233801858077],"tcp_quaternion_wxyz":[4.765305943414975e-06,0.7071069747478024,0.707106587519588,-1.1256339837019455e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-1.5108834259608977e-17,3.621548888159338e-17,-1.4125156139183778e-07],"object_linear_velocity_m_s":[-4.2559104583427445e-17,-1.786741337981306e-17,1.154578659055145e-14],"object_angular_velocity_rad_s":[8.041854373681705e-16,-8.728843590766043e-16,-1.0477795245503186e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512477903639,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828133920310598,-1.578584871717319,1.6251089694819087,-1.6430987936871637,-1.570795160449122,-0.4120170488695228,0.0],"actuator_force":[0.0002487863193891826,-21.013258137332286,-20.90013951441051,-2.4128009877715613,0.0006337245041549977,3.291172535568876e-05,-0.2933661530030173],"issued_joint_targets_rad":[-1.9828133997910815,-1.5680798297697895,1.6355567121309555,-1.638272326127716,-1.570796400146179,-0.41201705809457567],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.780000000000019,"joint_targets_rad":[-1.9828133997910815,-1.5680798297697895,1.6355567121309555,-1.638272326127716,-1.570796400146179,-0.41201705809457567],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.800000000000008,"qpos":[-1.9828080161509174,-1.5680795476514224,1.6354219629537234,-1.6381162744836566,-1.5707969346595525,-0.41201118685828403,0.0029337049249735054,0.00015630392741594916,0.003193572545381147,-0.003429392878143168,0.002933703946709754,0.00015630064411592583,0.0031979261456768202,-0.0034380951394840657,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,9.88363180263333e-18,2.969735518549121e-17,-1.4164674242910013e-07],"qvel":[-2.7474712107946112e-05,5.428355872930484e-06,0.0006848061100191197,-0.000784857313774434,2.582714792892727e-06,-2.9654323080653767e-05,-4.802205918050809e-07,-1.1095405070216834e-08,-4.774696291423329e-07,4.804931415387458e-07,-4.7645337774129616e-07,1.4229401922746996e-09,-4.015038385143085e-07,5.012643038982014e-07,-4.1284553678433025e-17,2.3876623923626215e-17,1.1687340026191157e-14,2.3932986792802393e-15,-6.734080661499798e-16,-4.211744911582391e-08],"joint_position_rad":[-1.9828080161509174,-1.5680795476514224,1.6354219629537234,-1.6381162744836566,-1.5707969346595525,-0.41201118685828403],"joint_velocity_rad_s":[-2.7474712107946112e-05,5.428355872930484e-06,0.0006848061100191197,-0.000784857313774434,2.582714792892727e-06,-2.9654323080653767e-05],"linkage_position_rad":[0.0029337049249735054,0.00015630392741594916,0.003193572545381147,-0.003429392878143168,0.002933703946709754,0.00015630064411592583,0.0031979261456768202,-0.0034380951394840657],"tcp_position_m":[0.07434102715125827,0.5047272830243341,0.30581790620675564],"tcp_quaternion_wxyz":[4.380756251482431e-06,0.7071069587992389,0.7071066034845102,-1.0348901587847214e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,9.88363180263333e-18,2.969735518549121e-17,-1.4164674242910013e-07],"object_linear_velocity_m_s":[-4.1284553678433025e-17,2.3876623923626215e-17,1.1687340026191157e-14],"object_angular_velocity_rad_s":[2.393298486006472e-15,-6.73408743323329e-16,-4.211744911582391e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351255054629,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828133997431239,-1.5785849330573174,1.6251090987391563,-1.6430989483281977,-1.5707951525156976,-0.4120170581232937,0.0],"actuator_force":[0.000222700430185796,-21.012942154139182,-20.899650873142036,-2.412851190893093,0.0006328004482156757,2.979980322947995e-05,-0.29336566021431526],"issued_joint_targets_rad":[-1.982813406759966,-1.5680798898016688,1.6355568223552521,-1.638272460032699,-1.5707963931423057,-0.4120170664715832],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.800000000000008,"joint_targets_rad":[-1.982813406759966,-1.5680798898016688,1.6355568223552521,-1.638272460032699,-1.5707963931423057,-0.4120170664715832],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.819999999999997,"qpos":[-1.9828085380687563,-1.5680794567804395,1.635434964608886,-1.6381311849001778,-1.5707968848682954,-0.4120117503875149,0.0029336957941079617,0.00015630370317272325,0.0031935634767678235,-0.0034293837199805685,0.002933694897505961,0.00015630068293517605,0.003197918640238809,-0.00343808557685098,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,1.4734448792398714e-17,1.896063631907473e-17,-1.418064390181684e-07],"qvel":[-2.484160849736549e-05,3.9852067506133346e-06,0.0006192791496166332,-0.0007105489373235329,2.3778882348511555e-06,-2.685037333964727e-05,-4.3359939547747453e-07,-1.0018170697224209e-08,-4.311389478181756e-07,4.338000793179967e-07,-4.301945282249287e-07,1.297530021482103e-09,-3.6240531324668026e-07,4.526205564386117e-07,-2.4206742104130823e-17,1.5298037079767105e-17,1.1770606753038045e-14,-3.4595060296609065e-16,-1.197624523780526e-15,-4.5578421476371564e-09],"joint_position_rad":[-1.9828085380687563,-1.5680794567804395,1.635434964608886,-1.6381311849001778,-1.5707968848682954,-0.4120117503875149],"joint_velocity_rad_s":[-2.484160849736549e-05,3.9852067506133346e-06,0.0006192791496166332,-0.0007105489373235329,2.3778882348511555e-06,-2.685037333964727e-05],"linkage_position_rad":[0.0029336957941079617,0.00015630370317272325,0.0031935634767678235,-0.0034293837199805685,0.002933694897505961,0.00015630068293517605,0.003197918640238809,-0.00343808557685098],"tcp_position_m":[0.07434134227788582,0.5047273943305325,0.30581296724587614],"tcp_quaternion_wxyz":[4.026014092617263e-06,0.707106944094704,0.7071066182029184,-9.51166855509685e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,1.4734448792398714e-17,1.896063631907473e-17,-1.418064390181684e-07],"object_linear_velocity_m_s":[-2.4206742104130823e-17,1.5298037079767105e-17,1.1770606753038045e-14],"object_angular_velocity_rad_s":[-3.45950942800654e-16,-1.1976244255301172e-15,-4.557842147637157e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512616122799,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98281340672084,-1.5785849883198644,1.6251092156505227,-1.6430990882945578,-1.570795145346575,-0.41201706649797515,0.0],"actuator_force":[0.00019933923158532707,-21.012657161550123,-20.899209576572957,-2.4128968034575564,0.0006319720367855552,2.6982103861428186e-05,-0.29336521561107765],"issued_joint_targets_rad":[-1.9828134130665798,-1.5680799442258202,1.6355569220906463,-1.6382725811358732,-1.5707963868144459,-0.4120170740532734],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.819999999999997,"joint_targets_rad":[-1.9828134130665798,-1.5680799442258202,1.6355569220906463,-1.6382725811358732,-1.5707963868144459,-0.4120170740532734],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.839999999999986,"qpos":[-1.9828090099735578,-1.5680793921196248,1.6354467221938591,-1.6381446836134945,-1.5707968390391531,-0.41201226063222307,0.002933687550002101,0.00015630350068585516,0.0031935552884682764,-0.0034293754520622888,0.0029336867272171173,0.00015630071826333176,0.0031979118662817554,-0.003438076942490061,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,2.283453582160774e-17,-6.7357874448819996e-18,-1.4224970915196597e-07],"qvel":[-2.2461353229844806e-05,2.7704064313006767e-06,0.0005600236057379823,-0.0006432744253557272,2.1885688244730976e-06,-2.4311534623037404e-05,-3.9147666632494914e-07,-9.045493740811046e-09,-3.8927623740185547e-07,3.916181127979857e-07,-3.883993002613896e-07,1.1831035921469901e-09,-3.2708637659362836e-07,4.0867061137557945e-07,6.740032546372588e-18,2.8595456064254106e-17,1.1708156707902883e-14,-3.6664334640508603e-16,-1.1339128058133347e-15,-1.8321095252687e-08],"joint_position_rad":[-1.9828090099735578,-1.5680793921196248,1.6354467221938591,-1.6381446836134945,-1.5707968390391531,-0.41201226063222307],"joint_velocity_rad_s":[-2.2461353229844806e-05,2.7704064313006767e-06,0.0005600236057379823,-0.0006432744253557272,2.1885688244730976e-06,-2.4311534623037404e-05],"linkage_position_rad":[0.002933687550002101,0.00015630350068585516,0.0031935552884682764,-0.0034293754520622888,0.0029336867272171173,0.00015630071826333176,0.0031979118662817554,-0.003438076942490061],"tcp_position_m":[0.07434162753913796,0.5047274962463952,0.3058085109993951],"tcp_quaternion_wxyz":[3.6989112492268933e-06,0.7071069305456977,0.7071066317636819,-8.739551560237396e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,2.283453582160774e-17,-6.7357874448819996e-18,-1.4224970915196597e-07],"object_linear_velocity_m_s":[6.740032546372588e-18,2.8595456064254106e-17,1.1708156707902883e-14],"object_angular_velocity_rad_s":[-3.6664366875579084e-16,-1.133912700666763e-15,-1.8321095252687004e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512675314932,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134130346586,-1.5785850380981232,1.6251093213966752,-1.6430992149865473,-1.570795138866606,-0.4120170740775207,0.0],"actuator_force":[0.00017841908993432298,-21.01240011956952,-20.89881103666312,-2.412938243990766,0.0006312293911605593,2.4430813482467784e-05,-0.293364814481128],"issued_joint_targets_rad":[-1.982813418774221,-1.5680799935585277,1.635557012336633,-1.6382726906678609,-1.5707963810960957,-0.41201708091552136],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.839999999999986,"joint_targets_rad":[-1.982813418774221,-1.5680799935585277,1.635557012336633,-1.6382726906678609,-1.5707963810960957,-0.41201708091552136],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.859999999999975,"qpos":[-1.9828094366673004,-1.568079349449106,1.6354573547737514,-1.6381569042549824,-1.570796796870488,-0.4120127226304763,0.002933680107031571,0.000156303317843802,0.0031935478955213985,-0.0034293679883178425,0.002933679350972503,0.0001563007504127224,0.00319790575301663,-0.003438069146758632,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,2.747876925584171e-17,-2.1530441053044888e-17,-1.425457227979182e-07],"qvel":[-2.0309618888757694e-05,1.7533168018934212e-06,0.0005064391324839584,-0.0005823681431499945,2.0136744876860283e-06,-2.2012744047398135e-05,-3.5342337656896115e-07,-8.167238686544623e-09,-3.5145568666697854e-07,3.53516140126482e-07,-3.506420131179745e-07,1.0787188502809269e-09,-2.951866342773097e-07,3.6896692002177415e-07,6.216984402695224e-17,6.930635306088313e-17,1.1784484540845863e-14,2.7930831460130487e-15,-3.8233718296139e-15,-7.364505403769964e-08],"joint_position_rad":[-1.9828094366673004,-1.568079349449106,1.6354573547737514,-1.6381569042549824,-1.570796796870488,-0.4120127226304763],"joint_velocity_rad_s":[-2.0309618888757694e-05,1.7533168018934212e-06,0.0005064391324839584,-0.0005823681431499945,2.0136744876860283e-06,-2.2012744047398135e-05],"linkage_position_rad":[0.002933680107031571,0.000156303317843802,0.0031935478955213985,-0.0034293679883178425,0.002933679350972503,0.0001563007504127224,0.00319790575301663,-0.003438069146758632],"tcp_position_m":[0.07434188577011643,0.5047275895491256,0.30580449027761014],"tcp_quaternion_wxyz":[3.3974200143836088e-06,0.7071069180689168,0.7071066442504198,-8.027788972418498e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,2.747876925584171e-17,-2.1530441053044888e-17,-1.425457227979182e-07],"object_linear_velocity_m_s":[6.216984402695224e-17,6.930635306088313e-17,1.1784484540845863e-14],"object_angular_velocity_rad_s":[2.793082059173556e-15,-3.8233726218505075e-15,-7.364505403769967e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512728739669,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134187481776,-1.57858508292895,1.625109417045265,-1.6430993296695662,-1.5707951330082874,-0.41201708093779205,0.0],"actuator_force":[0.00015968580100889085,-21.012168286408723,-20.898451109966572,-2.412975892976874,0.0006305636514980506,2.2120746848486306e-05,-0.2933644525732552],"issued_joint_targets_rad":[-1.9828134239400768,-1.5680800382698894,1.6355570939972879,-1.638272789739837,-1.5707963759275054,-0.4120170871268955],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.859999999999975,"joint_targets_rad":[-1.9828134239400768,-1.5680800382698894,1.6355570939972879,-1.638272789739837,-1.5707963759275054,-0.4120170871268955],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.879999999999963,"qpos":[-1.9828098224900073,-1.5680793251195686,1.63546697001604,-1.638167967809728,-1.5707967580819364,-0.4120131409440445,0.002933673387749458,0.00015630315274013846,0.0031935412210757005,-0.003429361250917604,0.0029336726920064274,0.00015630077966771866,0.003197900236414444,-0.0034380621085824017,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,2.9429906865542177e-17,-2.910890088499225e-17,-1.4282496249971554e-07],"qvel":[-1.8364422991457903e-05,9.070814169422312e-07,0.0004579828647151632,-0.0005272274245066043,1.8521862582031324e-06,-1.993130749312847e-05,-3.190505246471742e-07,-7.3742560836683504e-09,-3.172911550409596e-07,3.191034667980511e-07,-3.1653669493477045e-07,9.834869410055967e-10,-2.6637921080870733e-07,3.3310299070901484e-07,3.198864176543715e-17,3.428894349650379e-17,1.1944079100635729e-14,-1.065262669188383e-15,7.888572035446164e-16,-7.969678560896907e-09],"joint_position_rad":[-1.9828098224900073,-1.5680793251195686,1.63546697001604,-1.638167967809728,-1.5707967580819364,-0.4120131409440445],"joint_velocity_rad_s":[-1.8364422991457903e-05,9.070814169422312e-07,0.0004579828647151632,-0.0005272274245066043,1.8521862582031324e-06,-1.993130749312847e-05],"linkage_position_rad":[0.002933673387749458,0.00015630315274013846,0.0031935412210757005,-0.003429361250917604,0.0029336726920064274,0.00015630077966771866,0.003197900236414444,-0.0034380621085824017],"tcp_position_m":[0.07434211953620179,0.5047276749529989,0.3058008625048312],"tcp_quaternion_wxyz":[3.119646304375565e-06,0.7071069065861035,0.7071066557416592,-7.371930951128826e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,2.9429906865542177e-17,-2.910890088499225e-17,-1.4282496249971554e-07],"object_linear_velocity_m_s":[3.198864176543715e-17,3.428894349650379e-17,1.1944079100635729e-14],"object_angular_velocity_rad_s":[-1.0652624433873619e-15,7.888575083058798e-16,-7.96967856089691e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512776955195,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134239188286,-1.5785851232979191,1.6251095035616896,-1.643099433487246,-1.5707951277109404,-0.4120170871473452,0.0],"actuator_force":[0.00014291155366663588,-21.0119591892676,-20.89812605458701,-2.4130100963083123,0.0006299668721112539,2.0029098976692694e-05,-0.29336412605169637],"issued_joint_targets_rad":[-1.982813428615822,-1.5680800787876903,1.6355571678903604,-1.6382728793552757,-1.5707963712549597,-0.4120170927493778],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.879999999999963,"joint_targets_rad":[-1.982813428615822,-1.5680800787876903,1.6355571678903604,-1.6382728793552757,-1.5707963712549597,-0.4120170927493778],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.899999999999952,"qpos":[-1.9828101713642685,-1.5680793159815125,1.63547566528183,-1.6381779838129045,-1.5707967224131363,-0.41201351970341926,0.002933667322121762,0.0001563030036534142,0.0031935351956317933,-0.00342935516948932,0.002933666680900684,0.00015630080628748356,0.003197895258576657,-0.0034380557546592515,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,3.816975353376652e-17,-2.5405932568996778e-17,-1.4322588064061266e-07],"qvel":[-1.6605901584360792e-05,2.081825370465615e-07,0.0004141639133544368,-0.00047730661788093835,1.7031464691191504e-06,-1.8046675860150783e-05,-2.880055220594103e-07,-6.658251176769593e-09,-2.864325409313328e-07,2.880263722895574e-07,-2.8573349346151895e-07,8.966257256434377e-10,-2.403677364208571e-07,3.0071057752108527e-07,3.4355653505796975e-17,5.5374231147041353e-17,1.1969059118689802e-14,3.151444318588644e-16,6.969205286882427e-16,-3.203560705216182e-08],"joint_position_rad":[-1.9828101713642685,-1.5680793159815125,1.63547566528183,-1.6381779838129045,-1.5707967224131363,-0.41201351970341926],"joint_velocity_rad_s":[-1.6605901584360792e-05,2.081825370465615e-07,0.0004141639133544368,-0.00047730661788093835,1.7031464691191504e-06,-1.8046675860150783e-05],"linkage_position_rad":[0.002933667322121762,0.0001563030036534142,0.0031935351956317933,-0.00342935516948932,0.002933666680900684,0.00015630080628748356,0.003197895258576657,-0.0034380557546592515],"tcp_position_m":[0.07434233115879425,0.5047277531143517,0.3057975892682144],"tcp_quaternion_wxyz":[2.8638227894817318e-06,0.7071068960238761,0.7071066663110127,-6.767823678652422e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,3.816975353376652e-17,-2.5405932568996778e-17,-1.4322588064061266e-07],"object_linear_velocity_m_s":[3.4355653505796975e-17,5.5374231147041353e-17,1.1969059118689802e-14],"object_angular_velocity_rad_s":[3.1514463312075384e-16,6.969204408601191e-16,-3.203560705216183e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351282046636,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134285984862,-1.5785851596439815,1.6251095818188679,-1.6430995274733229,-1.5707951229199872,-0.4120170927681505,0.0],"actuator_force":[0.00012789219863407197,-21.011770597952818,-20.8978324912664,-2.4130411684211595,0.0006294319275639282,1.8135220386739093e-05,-0.2933638314560447],"issued_joint_targets_rad":[-1.98281343284816,-1.568080115501002,1.6355572347555345,-1.638272960420545,-1.5707963670301404,-0.41201709783900353],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.899999999999952,"joint_targets_rad":[-1.98281343284816,-1.568080115501002,1.6355572347555345,-1.638272960420545,-1.5707963670301404,-0.41201709783900353],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.919999999999941,"qpos":[-1.9828104868354643,-1.5680793193228244,1.6354835286126155,-1.6381870514330283,-1.5707966896224907,-0.41201386264857875,0.0029336618468313075,0.0001563028690292674,0.0031935297563526147,-0.00342934968042333,0.0029336612548947426,0.00015630083050815306,0.00319789076716274,-0.0034380500187182125,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,2.966429697474393e-17,-1.758988202069269e-17,-1.4334734994329746e-07],"qvel":[-1.501610474916423e-05,-3.6395194558036595e-07,0.00037453838810761603,-0.0004321116951716448,1.565656634921616e-06,-1.6340242401288057e-05,-2.5996895470363375e-07,-6.011760833284518e-09,-2.585627911609701e-07,2.5996402127644194e-07,-2.579154702343244e-07,8.17374446935828e-10,-2.168837284167478e-07,2.714563937911251e-07,2.1365296668576356e-17,3.394327249579278e-17,1.161239997202897e-14,-1.3011859546418164e-15,7.582988850481893e-16,-3.466811098790537e-09],"joint_position_rad":[-1.9828104868354643,-1.5680793193228244,1.6354835286126155,-1.6381870514330283,-1.5707966896224907,-0.41201386264857875],"joint_velocity_rad_s":[-1.501610474916423e-05,-3.6395194558036595e-07,0.00037453838810761603,-0.0004321116951716448,1.565656634921616e-06,-1.6340242401288057e-05],"linkage_position_rad":[0.0029336618468313075,0.0001563028690292674,0.0031935297563526147,-0.00342934968042333,0.0029336612548947426,0.00015630083050815306,0.00319789076716274,-0.0034380500187182125],"tcp_position_m":[0.0743425227385839,0.5047278246361779,0.3057946359107028],"tcp_quaternion_wxyz":[2.6283020989885854e-06,0.707106886313537,0.7071066760273745,-6.211593727407553e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,2.966429697474393e-17,-1.758988202069269e-17,-1.4334734994329746e-07],"object_linear_velocity_m_s":[2.1365296668576356e-17,3.394327249579278e-17,1.161239997202897e-14],"object_angular_velocity_rad_s":[-1.301185737119531e-15,7.582992582969562e-16,-3.4668110987905394e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512859729632,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134328340157,-1.5785851923637475,1.6251096526061117,-1.6430996125623563,-1.5707951185863087,-0.41201709785623236,0.0],"actuator_force":[0.00011444479696365306,-21.011600501067733,-20.897567368250293,-2.413069395146863,0.0006289524275189251,1.642041334548594e-05,-0.2933635656641778],"issued_joint_targets_rad":[-1.9828134366764145,-1.5680801493321388,1.6355572961092613,-1.6382730351953638,-1.570796363205493,-0.4120171024433977],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.919999999999941,"joint_targets_rad":[-1.9828134366764145,-1.5680801493321388,1.6355572961092613,-1.6382730351953638,-1.570796363205493,-0.4120171024433977],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.93999999999993,"qpos":[-1.9828107721104287,-1.5680793328597975,1.6354906397013085,-1.638195260584501,-1.5707966594856304,-0.4120141731656241,0.0029336569046411447,0.0001563027474510556,0.003193524846403358,-0.003429344726278328,0.0029336563572862594,0.00015630085258861958,0.00319788671516433,-0.0034380448408730824,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,1.996063120463742e-17,-2.98909083091553e-17,-1.4383561842488997e-07],"qvel":[-1.3578797108003158e-05,-8.298802266173208e-07,0.00033870880937630796,-0.0003912019599459713,1.4388894175415623e-06,-1.4795145207191736e-05,-2.3464590291575343e-07,-5.421796019221743e-09,-2.3338120016096654e-07,2.346188763597334e-07,-2.3279572327256664e-07,7.377946556259794e-10,-1.957392257311249e-07,2.4502336130502733e-07,3.488916900254208e-17,2.5943923308317995e-17,1.147639765151239e-14,-1.1103574167433978e-15,5.232677395729053e-16,-1.3935492785097367e-08],"joint_position_rad":[-1.9828107721104287,-1.5680793328597975,1.6354906397013085,-1.638195260584501,-1.5707966594856304,-0.4120141731656241],"joint_velocity_rad_s":[-1.3578797108003158e-05,-8.298802266173208e-07,0.00033870880937630796,-0.0003912019599459713,1.4388894175415623e-06,-1.4795145207191736e-05],"linkage_position_rad":[0.0029336569046411447,0.0001563027474510556,0.003193524846403358,-0.003429344726278328,0.0029336563572862594,0.00015630085258861958,0.00319788671516433,-0.0034380448408730824],"tcp_position_m":[0.07434269617964072,0.5047278900767074,0.30579197116094303],"tcp_quaternion_wxyz":[2.411531929062766e-06,0.7071068773917943,0.7071066849542043,-5.699586643350567e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,1.996063120463742e-17,-2.98909083091553e-17,-1.4383561842488997e-07],"object_linear_velocity_m_s":[3.488916900254208e-17,2.5943923308317995e-17,1.147639765151239e-14],"object_angular_velocity_rad_s":[-1.1103572653811855e-15,5.232680595470979e-16,-1.3935492785097377e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512895155748,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982813436664874,-1.5785852223831722,1.6251097174844535,-1.643099691040614,-1.5707951146616068,-0.4120171024592056,0.0],"actuator_force":[0.00010240995243293582,-21.01144709465916,-20.897327957460675,-2.4130950320619604,0.0006285230699631938,1.4867729987599887e-05,-0.29336332588823927],"issued_joint_targets_rad":[-1.982813440149073,-1.5680801803151616,1.635557352010089,-1.638273103248973,-1.5707963597427985,-0.41201710661886815],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.93999999999993,"joint_targets_rad":[-1.982813440149073,-1.5680801803151616,1.635557352010089,-1.638273103248973,-1.5707963597427985,-0.41201710661886815],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.95999999999992,"qpos":[-1.982811030084641,-1.5680793546227352,1.6354970705647698,-1.6382026925708661,-1.5707966317947037,-0.4120144543214524,0.0029336524438817744,0.0001563026376916077,0.003193520414595399,-0.0034293402550882933,0.0029336519367976974,0.00015630087264399887,0.003197883059285486,-0.003438040167067667,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-1.684538496259966e-18,-1.486353660190617e-17,-1.4416139786568842e-07],"qvel":[-1.227935009614518e-05,-1.2038104164301226e-06,0.00030630928694650887,-0.00035416646864240824,1.322057729101377e-06,-1.3396178536837751e-05,-2.117838180517968e-07,-4.893503464836591e-09,-2.1065583652977945e-07,2.117391220980489e-07,-2.1011368974209455e-07,6.691734715904548e-10,-1.7662212155165273e-07,2.2116622446716692e-07,1.6071581124257255e-17,-1.7317027793292013e-17,1.1375089800515346e-14,-3.1253597837196795e-15,1.9156054702490343e-15,-5.601630825263517e-08],"joint_position_rad":[-1.982811030084641,-1.5680793546227352,1.6354970705647698,-1.6382026925708661,-1.5707966317947037,-0.4120144543214524],"joint_velocity_rad_s":[-1.227935009614518e-05,-1.2038104164301226e-06,0.00030630928694650887,-0.00035416646864240824,1.322057729101377e-06,-1.3396178536837751e-05],"linkage_position_rad":[0.0029336524438817744,0.0001563026376916077,0.003193520414595399,-0.0034293402550882933,0.0029336519367976974,0.00015630087264399887,0.003197883059285486,-0.003438040167067667],"tcp_position_m":[0.07434285319956013,0.5047279499396533,0.3057895668109831],"tcp_quaternion_wxyz":[2.212080910037539e-06,0.7071068691981188,0.7071066931521743,-5.228433961949259e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-1.684538496259966e-18,-1.486353660190617e-17,-1.4416139786568842e-07],"object_linear_velocity_m_s":[1.6071581124257255e-17,-1.7317027793292013e-17,1.1375089800515346e-14],"object_angular_velocity_rad_s":[-3.1253592297416265e-15,1.915606371172703e-15,-5.601630825263522e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512927121011,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134401396567,-1.5785852497377322,1.625109776552569,-1.6430997625018267,-1.5707951111069733,-0.4120171066333687,0.0],"actuator_force":[9.163000731859938e-05,-21.011308705828014,-20.897111739180218,-2.4131183186159433,0.0006281380922246171,1.3461895520094913e-05,-0.29336310954643463],"issued_joint_targets_rad":[-1.982813443290528,-1.5680802082808,1.635557402433493,-1.6382731645550717,-1.5707963566133563,-0.4120171103967544],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.95999999999992,"joint_targets_rad":[-1.982813443290528,-1.5680802082808,1.635557402433493,-1.6382731645550717,-1.5707963566133563,-0.4120171103967544],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.979999999999908,"qpos":[-1.9828112633736643,-1.5680793828904425,1.6355028862711931,-1.6382094209308828,-1.5707966063578962,-0.4120147088921154,0.002933648417769646,0.0001563025385835695,0.003193516414404873,-0.003429336219870773,0.0029336479470696165,0.0001563008908548077,0.003197879760954092,-0.0034380359482694997,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-1.1634142877815101e-17,-3.999287811359256e-18,-1.4437379471183978e-07],"qvel":[-1.1104477596256528e-05,-1.4971863553704132e-06,0.0002770088765324102,-0.00032063534539230064,1.2143971787424128e-06,-1.2129479492534172e-05,-1.9114648642264538e-07,-4.4198325739644816e-09,-1.9013977366141066e-07,1.9109117729379648e-07,-1.896359909926567e-07,6.109006079586107e-10,-1.5933448401386378e-07,1.9963451560900665e-07,8.177986141950264e-18,-1.002271236254412e-17,1.1311251976599399e-14,-5.2667836374191564e-17,8.602792870439865e-16,-6.061940978590168e-09],"joint_position_rad":[-1.9828112633736643,-1.5680793828904425,1.6355028862711931,-1.6382094209308828,-1.5707966063578962,-0.4120147088921154],"joint_velocity_rad_s":[-1.1104477596256528e-05,-1.4971863553704132e-06,0.0002770088765324102,-0.00032063534539230064,1.2143971787424128e-06,-1.2129479492534172e-05],"linkage_position_rad":[0.002933648417769646,0.0001563025385835695,0.003193516414404873,-0.003429336219870773,0.0029336479470696165,0.0001563008908548077,0.003197879760954092,-0.0034380359482694997],"tcp_position_m":[0.07434299535355766,0.5047280046910105,0.305787397411381],"tcp_quaternion_wxyz":[2.0286286805986615e-06,0.7071068616758323,0.7071067006780853,-4.795028538547264e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-1.1634142877815101e-17,-3.999287811359256e-18,-1.4437379471183978e-07],"object_linear_velocity_m_s":[8.177986141950264e-18,-1.002271236254412e-17,1.1311251976599399e-14],"object_angular_velocity_rad_s":[-5.2667587922132176e-17,8.602793021106111e-16,-6.061940978590174e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512955962483,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982813443282845,-1.57858527425834,1.6251098298220565,-1.6430998269422659,-1.570795107893072,-0.4120171104100525,0.0],"actuator_force":[8.197267698051292e-05,-21.011183861252903,-20.89691644888626,-2.4131394711523626,0.0006277926943312195,1.2188980690552853e-05,-0.293362914329576],"issued_joint_targets_rad":[-1.9828134461338274,-1.5680802334826052,1.6355574478789896,-1.6382732197465575,-1.5707963537838527,-0.41201711381638484],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.979999999999908,"joint_targets_rad":[-1.9828134461338274,-1.5680802334826052,1.6355574478789896,-1.6382732197465575,-1.5707963537838527,-0.41201711381638484],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.999999999999897,"qpos":[-1.9828114743439869,-1.5680794161883598,1.635508145659688,-1.6382155122427386,-1.5707965829975423,-0.4120149393913102,0.0029336447840427036,0.00015630244908301576,0.0031935128038948005,-0.003429332578208927,0.0029336443462332313,0.00015630090741974078,0.003197876785504084,-0.0034380321402794414,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-1.6968358293891214e-17,-6.822876351391904e-18,-1.4483028676508872e-07],"qvel":[-1.0042239052259566e-05,-1.7218946284935445e-06,0.00025051100169322333,-0.0002902770045854895,1.11522667018795e-06,-1.0982550572822618e-05,-1.725151232258296e-07,-3.991974580274578e-09,-1.7161624994286694e-07,1.7245118427315867e-07,-1.711487291232677e-07,5.583922696940467e-10,-1.4372945487692448e-07,1.801929600344112e-07,8.966094766147603e-18,-2.080995139276304e-17,1.1287659737326113e-14,2.29086543017061e-16,-5.045984827270201e-16,-2.4367100590021662e-08],"joint_position_rad":[-1.9828114743439869,-1.5680794161883598,1.635508145659688,-1.6382155122427386,-1.5707965829975423,-0.4120149393913102],"joint_velocity_rad_s":[-1.0042239052259566e-05,-1.7218946284935445e-06,0.00025051100169322333,-0.0002902770045854895,1.11522667018795e-06,-1.0982550572822618e-05],"linkage_position_rad":[0.0029336447840427036,0.00015630244908301576,0.0031935128038948005,-0.003429332578208927,0.0029336443462332313,0.00015630090741974078,0.003197876785504084,-0.0034380321402794414],"tcp_position_m":[0.0743431240508642,0.5047280547598605,0.30578543999729596],"tcp_quaternion_wxyz":[1.8599499103955737e-06,0.7071068547729432,0.7071067075840295,-4.3964863647932085e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-1.6968358293891214e-17,-6.822876351391904e-18,-1.4483028676508872e-07],"object_linear_velocity_m_s":[8.966094766147603e-18,-2.080995139276304e-17,1.1287659737326113e-14],"object_angular_velocity_rad_s":[2.2908639718727305e-16,-5.045985499112783e-16,-2.4367100590021685e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313512981982913,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134461275586,-1.5785852961972118,1.6251098778249307,-1.6430998850157597,-1.570795104986,-0.41201711382857725,0.0],"actuator_force":[7.33284773559717e-05,-21.011071259852542,-20.89674007019221,-2.413158686051929,0.0006274831041537254,1.1036423757104785e-05,-0.293362738194535],"issued_joint_targets_rad":[-1.9828134487075844,-1.5680802561930736,1.6355574888453082,-1.6382732694467355,-1.5707963512249261,-0.412017116912043],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.999999999999897,"joint_targets_rad":[-1.9828134487075844,-1.5680802561930736,1.6355574888453082,-1.6382732694467355,-1.5707963512249261,-0.412017116912043],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.019999999999886,"qpos":[-1.9828116651351415,-1.5680794532664184,1.6355129019427468,-1.6382210267897188,-1.5707965615492758,-0.41201514809510226,0.002933641504553818,0.00015630236825984426,0.0031935095452011158,-0.00342932929181957,0.0029336410964783217,0.00015630092249235898,0.0031978741014525975,-0.0034380287031983868,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-1.031567908832993e-17,-4.650399028486661e-18,-1.4502359471314824e-07],"qvel":[-9.08181852321342e-06,-1.8885243157064674e-06,0.00022654766639070817,-0.0002627914725495577,1.0239104043138275e-06,-9.944069044475612e-06,-1.5569517538265737e-07,-3.6054046282295503e-09,-1.548925109442294e-07,1.5562463617815074e-07,-1.5445918803789653e-07,5.103635229744894e-10,-1.2964835065341818e-07,1.6263982363398828e-07,-1.466816524311707e-17,-9.861322112483754e-18,1.122520969219095e-14,5.709254827842855e-16,1.0211761918787691e-15,-9.794809835026505e-08],"joint_position_rad":[-1.9828116651351415,-1.5680794532664184,1.6355129019427468,-1.6382210267897188,-1.5707965615492758,-0.41201514809510226],"joint_velocity_rad_s":[-9.08181852321342e-06,-1.8885243157064674e-06,0.00022654766639070817,-0.0002627914725495577,1.0239104043138275e-06,-9.944069044475612e-06],"linkage_position_rad":[0.002933641504553818,0.00015630236825984426,0.0031935095452011158,-0.00342932929181957,0.0029336410964783217,0.00015630092249235898,0.0031978741014525975,-0.0034380287031983868],"tcp_position_m":[0.07434324056714244,0.5047281005401435,0.3057836738482592],"tcp_quaternion_wxyz":[1.7049064141410275e-06,0.7071068484412262,0.7071067139183216,-4.030127609290705e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-1.031567908832993e-17,-4.650399028486661e-18,-1.4502359471314824e-07],"object_linear_velocity_m_s":[-1.466816524311707e-17,-9.861322112483754e-18,1.122520969219095e-14],"object_angular_velocity_rad_s":[5.709257798845417e-16,1.0211760242625932e-15,-9.794809835026515e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513005457198,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134487024693,-1.5785853158240615,1.6251099210891427,-1.643099937365051,-1.5707951023558506,-0.41201711692321913,0.0],"actuator_force":[6.559275379913743e-05,-21.01096970556,-20.896580773764526,-2.4131761404111103,0.0006272056722309571,9.992846003115119e-06,-0.29336257927978987],"issued_joint_targets_rad":[-1.9828134510374964,-1.5680802766625364,1.6355575257848276,-1.638273314218678,-1.5707963489102494,-0.41201711971456184],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.019999999999886,"joint_targets_rad":[-1.9828134510374964,-1.5680802766625364,1.6355575257848276,-1.638273314218678,-1.5707963489102494,-0.41201711971456184],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.039999999999875,"qpos":[-1.9828118376811854,-1.5680794930707767,1.635517203244469,-1.6382260191554459,-1.5707965418611216,-0.41201533706436516,0.0029336385448509045,0.00015630229527315145,0.0031935066041234358,-0.0034293263261228634,0.0029336381636557033,0.00015630093620689465,0.003197871680346128,-0.0034380256009753246,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-6.0664681966083915e-18,2.4134458305039942e-20,-1.4539498418569782e-07],"qvel":[-8.213436846350547e-06,-2.0062852512436576e-06,0.0002048765079279795,-0.0002379071296400753,9.398558884592169e-07,-9.003781633319492e-06,-1.4051130024973126e-07,-3.2561809219339753e-09,-1.3979465114206386e-07,1.404360972518511e-07,-1.3939334408121462e-07,4.663369994566694e-10,-1.16943528510466e-07,1.4679296274748204e-07,-7.202098958068057e-19,-8.374225045437832e-18,1.119329078023297e-14,3.3074104584866276e-16,2.1088766874480578e-16,-1.0599691584218327e-08],"joint_position_rad":[-1.9828118376811854,-1.5680794930707767,1.635517203244469,-1.6382260191554459,-1.5707965418611216,-0.41201533706436516],"joint_velocity_rad_s":[-8.213436846350547e-06,-2.0062852512436576e-06,0.0002048765079279795,-0.0002379071296400753,9.398558884592169e-07,-9.003781633319492e-06],"linkage_position_rad":[0.0029336385448509045,0.00015630229527315145,0.0031935066041234358,-0.0034293263261228634,0.0029336381636557033,0.00015630093620689465,0.003197871680346128,-0.0034380256009753246],"tcp_position_m":[0.07434334605695005,0.5047281423933497,0.30578208026944476],"tcp_quaternion_wxyz":[1.5624414827328775e-06,0.7071068426358843,0.7071067197258328,-3.69346339930343e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-6.0664681966083915e-18,2.4134458305039942e-20,-1.4539498418569782e-07],"object_linear_velocity_m_s":[-7.202098958068057e-19,-8.374225045437832e-18,1.119329078023297e-14],"object_angular_velocity_rad_s":[3.30741107172156e-16,2.1088757244001347e-16,-1.0599691584218338e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513026633728,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134510333228,-1.5785853333852484,1.6251099600933436,-1.6430999845712566,-1.5707950999757927,-0.4120171197248041,0.0],"actuator_force":[5.867046320418012e-05,-21.010878114843308,-20.896436905421524,-2.4131919949413714,0.0006269570756103349,9.047943848372597e-06,-0.29336243590210875],"issued_joint_targets_rad":[-1.9828134531467707,-1.5680802951167128,1.635557559103422,-1.6382733545661314,-1.5707963468161554,-0.4120171222517971],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.039999999999875,"joint_targets_rad":[-1.9828134531467707,-1.5680802951167128,1.635557559103422,-1.6382733545661314,-1.5707963468161554,-0.4120171222517971],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.059999999999864,"qpos":[-1.9828119937304272,-1.5680795347176024,1.6355210930868809,-1.638230538762151,-1.5707965237926396,-0.41201550816511934,0.0029336358738182924,0.00015630222936314825,0.0031935039497704727,-0.003429323649887646,0.0029336355169234498,0.0001563009486848586,0.003197869496492875,-0.003438022801050336,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-8.945613256156286e-18,2.1426102392325984e-18,-1.457383769223477e-07],"qvel":[-7.428255456611409e-06,-2.083145471610489e-06,0.00018527832783152404,-0.00021537800641153494,8.625114604604207e-07,-8.1524041890689e-06,-1.268050650463622e-07,-2.940732859129151e-09,-1.2616534259159043e-07,1.2672683107161535e-07,-1.2579392965937854e-07,4.25983332688418e-10,-1.0548117007463337e-07,1.3248693480067154e-07,-1.7482080214144305e-18,-1.5926791303450795e-17,1.1175249656082808e-14,-4.1404823928052204e-16,2.845737271493151e-16,-4.260743414825335e-08],"joint_position_rad":[-1.9828119937304272,-1.5680795347176024,1.6355210930868809,-1.638230538762151,-1.5707965237926396,-0.41201550816511934],"joint_velocity_rad_s":[-7.428255456611409e-06,-2.083145471610489e-06,0.00018527832783152404,-0.00021537800641153494,8.625114604604207e-07,-8.1524041890689e-06],"linkage_position_rad":[0.0029336358738182924,0.00015630222936314825,0.0031935039497704727,-0.003429323649887646,0.0029336355169234498,0.0001563009486848586,0.003197869496492875,-0.003438022801050336],"tcp_position_m":[0.07434344156522729,0.5047281806511039,0.30578064239374475],"tcp_quaternion_wxyz":[1.4315747891435995e-06,0.707106837315333,0.70710672504821,-3.3841839969812213e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-8.945613256156286e-18,2.1426102392325984e-18,-1.457383769223477e-07],"object_linear_velocity_m_s":[-1.7482080214144305e-18,-1.5926791303450795e-17,1.1175249656082808e-14],"object_angular_velocity_rad_s":[-4.140481565164611e-16,2.845738470724409e-16,-4.260743414825341e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513045736793,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134531433652,-1.5785853491015864,1.6251099952670274,-1.6431000271548615,-1.5707950978216936,-0.41201712226118153,0.0],"actuator_force":[5.247630633675726e-05,-21.0107955097792,-20.89630697083976,-2.4132063957141554,0.0006267343269428238,8.19238780991327e-06,-0.29336230654211354],"issued_joint_targets_rad":[-1.9828134550563798,-1.5680803117584194,1.6355575891647518,-1.6382733909393026,-1.570796344921347,-0.4120171245489374],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.059999999999864,"joint_targets_rad":[-1.9828134550563798,-1.5680803117584194,1.6355575891647518,-1.6382733909393026,-1.570796344921347,-0.4120171245489374],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.079999999999853,"qpos":[-1.982812134863295,-1.568079577469907,1.635524610829778,-1.6382346303581012,-1.5707965072141215,-0.41201566308695226,0.0029336334633557,0.00015630216984366716,0.003193501554244643,-0.003429321234914682,0.002933633128428781,0.00015630096003693488,0.0031978675266987086,-0.00343802027401659,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-8.49204738928155e-18,2.716682650138961e-18,-1.458999313860028e-07],"qvel":[-6.718286229593725e-06,-2.1259809801315676e-06,0.00016755487743628985,-0.00019498136219740789,7.913640085970077e-07,-7.381530210514088e-06,-1.1443324449518039e-07,-2.6557825568219e-09,-1.1386218658977618e-07,1.1435341533547309e-07,-1.1351877819976708e-07,3.89006470837547e-10,-9.514028361846416e-08,1.195726244253724e-07,-2.3394635080876973e-18,-9.35426994030234e-18,1.1161371868274992e-14,1.343141872643348e-16,1.0084441981429784e-16,-4.610867069122475e-09],"joint_position_rad":[-1.982812134863295,-1.568079577469907,1.635524610829778,-1.6382346303581012,-1.5707965072141215,-0.41201566308695226],"joint_velocity_rad_s":[-6.718286229593725e-06,-2.1259809801315676e-06,0.00016755487743628985,-0.00019498136219740789,7.913640085970077e-07,-7.381530210514088e-06],"linkage_position_rad":[0.0029336334633557,0.00015630216984366716,0.003193501554244643,-0.003429321234914682,0.002933633128428781,0.00015630096003693488,0.0031978675266987086,-0.00343802027401659],"tcp_position_m":[0.07434352803772043,0.504728215617566,0.305779345003088],"tcp_quaternion_wxyz":[1.3113975599691338e-06,0.7071068324410067,0.7071067299240718,-3.10014757822427e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-8.49204738928155e-18,2.716682650138961e-18,-1.458999313860028e-07],"object_linear_velocity_m_s":[-2.3394635080876973e-18,-9.35426994030234e-18,1.1161371868274992e-14],"object_angular_velocity_rad_s":[1.3431421666566458e-16,1.0084438054312085e-16,-4.610867069122481e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513062968894,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982813455053601,-1.578585363170271,1.6251100269950867,-1.6431000655815893,-1.5707950958718255,-0.4120171245575341,0.0],"actuator_force":[4.693387973020435e-05,-21.01072100833653,-20.89618962035729,-2.4132194755242153,0.0006265347471980931,7.41773013146485e-06,-0.29336218982911055],"issued_joint_targets_rad":[-1.9828134567852858,-1.568080326769691,1.6355576162946734,-1.6382734237406515,-1.5707963432066425,-0.4120171266287592],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.079999999999853,"joint_targets_rad":[-1.9828134567852858,-1.568080326769691,1.6355576162946734,-1.6382734237406515,-1.5707963432066425,-0.4120171266287592],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.099999999999842,"qpos":[-1.9828122625084907,-1.5680796207172383,1.6355277920685554,-1.6382383344590694,-1.57079649200583,-0.4120158033596963,0.0029336312880880303,0.00015630211609499455,0.0031934993923515235,-0.003429319055741455,0.0029336309730203652,0.00015630097036395271,0.0031978657500265953,-0.0034380179933196113,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-2.251758296862852e-17,-1.271899267198242e-17,-1.4634835842591515e-07],"qvel":[-6.076309577989935e-06,-2.1407120729874412e-06,0.0001515268570814518,-0.0001765154950720217,7.259367616836254e-07,-6.683547899735906e-06,-1.0326641405432205e-07,-2.398410218027532e-09,-1.0275677422342948e-07,1.0318593835096992e-07,-1.0243942029271594e-07,3.5514047840104265e-10,-8.581147747794203e-08,1.07915049808087e-07,1.5191969812728313e-17,-2.2771984176113435e-17,1.1075329583866543e-14,4.241150692025521e-17,-5.714100581578284e-16,-1.8534238798652294e-08],"joint_position_rad":[-1.9828122625084907,-1.5680796207172383,1.6355277920685554,-1.6382383344590694,-1.57079649200583,-0.4120158033596963],"joint_velocity_rad_s":[-6.076309577989935e-06,-2.1407120729874412e-06,0.0001515268570814518,-0.0001765154950720217,7.259367616836254e-07,-6.683547899735906e-06],"linkage_position_rad":[0.0029336312880880303,0.00015630211609499455,0.0031934993923515235,-0.003429319055741455,0.0029336309730203652,0.00015630097036395271,0.0031978657500265953,-0.0034380179933196113],"tcp_position_m":[0.07434360633041663,0.5047282475716492,0.30577817436720534],"tcp_quaternion_wxyz":[1.201067963872138e-06,0.7071068279771747,0.707106734389196,-2.8393695097690603e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-2.251758296862852e-17,-1.271899267198242e-17,-1.4634835842591515e-07],"object_linear_velocity_m_s":[1.5191969812728313e-17,-2.2771984176113435e-17,1.1075329583866543e-14],"object_angular_velocity_rad_s":[4.2411340141879026e-17,-5.714100714062061e-16,-1.8534238798652317e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513078512899,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134567830182,-1.5785853757671884,1.625110055622465,-1.6431001002682735,-1.57079509410661,-0.4120171266366327,0.0],"actuator_force":[4.19747761952749e-05,-21.010653815071237,-20.896083635013383,-2.413231355094922,0.000626355933945888,6.716321763633459e-06,-0.293362084526248],"issued_joint_targets_rad":[-1.982813458350635,-1.5680803403138335,1.6355576407852854,-1.6382734533301593,-1.570796341654754,-0.41201712851186495],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.099999999999842,"joint_targets_rad":[-1.982813458350635,-1.5680803403138335,1.6355576407852854,-1.6382734533301593,-1.570796341654754,-0.41201712851186495],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.11999999999983,"qpos":[-1.9828123779575852,-1.5680796639579386,1.6355306689940523,-1.6382416877481811,-1.5707964780572854,-0.412015930368533,0.002933629325102918,0.000156302067557621,0.003193497441341172,-0.0034293170893785543,0.0029336290279881588,0.00015630097975787425,0.0031978641475800406,-0.0034380159349791605,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-1.6407924909634854e-17,-9.917534221824809e-18,-1.465912667957114e-07],"qvel":[-5.495800384666013e-06,-2.132424297232793e-06,0.00013703210659934826,-0.00015979775841070456,6.657871325864028e-07,-6.051565076054254e-06,-9.318759951081726e-08,-2.1659249518832973e-09,-9.27327970051898e-08,9.310776347704079e-08,-9.243975055574274e-08,3.2413309954496784e-10,-7.739604877624941e-08,9.739256128994572e-08,1.5222445437356933e-17,-2.5557286431980715e-17,1.1003165087265912e-14,7.49497509715977e-16,1.0896828041056205e-16,-7.450182421131498e-08],"joint_position_rad":[-1.9828123779575852,-1.5680796639579386,1.6355306689940523,-1.6382416877481811,-1.5707964780572854,-0.412015930368533],"joint_velocity_rad_s":[-5.495800384666013e-06,-2.132424297232793e-06,0.00013703210659934826,-0.00015979775841070456,6.657871325864028e-07,-6.051565076054254e-06],"linkage_position_rad":[0.002933629325102918,0.000156302067557621,0.003193497441341172,-0.0034293170893785543,0.0029336290279881588,0.00015630097975787425,0.0031978641475800406,-0.0034380159349791605],"tcp_position_m":[0.07434367721807877,0.5047282767690633,0.30577711809815167],"tcp_quaternion_wxyz":[1.09980671929936e-06,0.7071068238907608,0.7071067384766959,-2.600012115913516e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-1.6407924909634854e-17,-9.917534221824809e-18,-1.465912667957114e-07],"object_linear_velocity_m_s":[1.5222445437356933e-17,-2.5557286431980715e-17,1.1003165087265912e-14],"object_angular_velocity_rad_s":[7.494975431412908e-16,1.0896805822613783e-16,-7.45018242113151e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513092533811,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134583487846,-1.5785853870491247,1.6251100814584174,-1.6431001315882008,-1.5707950925083924,-0.4120171285190746,0.0],"actuator_force":[3.753775536097237e-05,-21.01059321265302,-20.89598791390972,-2.4132421441687484,0.0006261957332753809,6.081236818999969e-06,-0.2933619895178035],"issued_joint_targets_rad":[-1.982813459767937,-1.5680803525373421,1.6355576628985626,-1.6382734800300263,-1.5707963402500886,-0.41201713021689707],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.11999999999983,"joint_targets_rad":[-1.982813459767937,-1.5680803525373421,1.6355576628985626,-1.6382734800300263,-1.5707963402500886,-0.41201713021689707],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.13999999999982,"qpos":[-1.9828124823782103,-1.5680797067836603,1.635533270718032,-1.6382447234380637,-1.5707964652665956,-0.4120160453676684,0.002933627553713,0.00015630202372605946,0.003193495680671957,-0.003429315315071105,0.0029336272728277225,0.00015630098830231073,0.0031978627023035674,-0.0034380140773440536,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-1.010499048328653e-17,-5.217059131456949e-18,-1.4687375511007236e-07],"qvel":[-4.970861068944432e-06,-2.1054752830587267e-06,0.00012392396849888283,-0.00014466276407396972,6.105046194494205e-07,-5.47934118681174e-06,-8.409112987163509e-08,-1.9559615470303567e-09,-8.368532716864448e-08,8.401233005952596e-08,-8.341488258705449e-08,2.957608252731146e-10,-6.980484961987903e-08,8.789458744359725e-08,7.857560139953437e-18,-1.3261529010816124e-17,1.0972633954088715e-14,5.785240076769004e-16,6.506038527209236e-16,-8.062396028125241e-09],"joint_position_rad":[-1.9828124823782103,-1.5680797067836603,1.635533270718032,-1.6382447234380637,-1.5707964652665956,-0.4120160453676684],"joint_velocity_rad_s":[-4.970861068944432e-06,-2.1054752830587267e-06,0.00012392396849888283,-0.00014466276407396972,6.105046194494205e-07,-5.47934118681174e-06],"linkage_position_rad":[0.002933627553713,0.00015630202372605946,0.003193495680671957,-0.003429315315071105,0.0029336272728277225,0.00015630098830231073,0.0031978627023035674,-0.0034380140773440536],"tcp_position_m":[0.07434374140196978,0.5047283034442024,0.3057761650190481],"tcp_quaternion_wxyz":[1.00689291733471e-06,0.707106820151173,0.7071067422171957,-2.380374939695175e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-1.010499048328653e-17,-5.217059131456949e-18,-1.4687375511007236e-07],"object_linear_velocity_m_s":[7.857560139953437e-18,-1.3261529010816124e-17,1.0972633954088715e-14],"object_angular_velocity_rad_s":[5.785241988742622e-16,6.506036826179688e-16,-8.062396028125254e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513105180596,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134597664273,-1.578585397155817,1.6251101047803407,-1.6431001598758808,-1.5707950910612423,-0.4120171302234977,0.0],"actuator_force":[3.356799334142124e-05,-21.01053855420014,-20.89590146278215,-2.4132519425012333,0.0006260522146703806,5.506204018956851e-06,-0.29336190379697386],"issued_joint_targets_rad":[-1.982813461051221,-1.5680803635716494,1.6355576828695997,-1.6382735041288472,-1.570796338978577,-0.4120171317607217],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.13999999999982,"joint_targets_rad":[-1.982813461051221,-1.5680803635716494,1.6355576828695997,-1.6382735041288472,-1.570796338978577,-0.4120171317607217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.159999999999808,"qpos":[-1.9828125768259748,-1.5680797488658789,1.6355356235675733,-1.6382474715988342,-1.570796453539828,-0.4120161494927168,0.002933625955241347,0.00015630198414401085,0.003193494091797591,-0.0034293137140830646,0.0029336256890275174,0.0001563009960736493,0.00319786139880644,-0.003438012400865872,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-6.429661437721035e-18,4.017047601829793e-18,-1.4727933744342165e-07],"qvel":[-4.49616111466402e-06,-2.063588752302127e-06,0.00011206980728702046,-0.00013096075464044958,5.597087835314033e-07,-4.961225686626409e-06,-7.588151993383074e-08,-1.7663256034370518e-09,-7.551942317633596e-08,7.580432093052098e-08,-7.52700447572842e-08,2.698134491469627e-10,-6.295731038967925e-08,7.932202300856314e-08,-6.947820176834942e-18,-6.82881704667532e-18,1.0889367227241824e-14,3.2094555868681597e-16,6.074560303125689e-16,-3.2408302177105985e-08],"joint_position_rad":[-1.9828125768259748,-1.5680797488658789,1.6355356235675733,-1.6382474715988342,-1.570796453539828,-0.4120161494927168],"joint_velocity_rad_s":[-4.49616111466402e-06,-2.063588752302127e-06,0.00011206980728702046,-0.00013096075464044958,5.597087835314033e-07,-4.961225686626409e-06],"linkage_position_rad":[0.002933625955241347,0.00015630198414401085,0.003193494091797591,-0.0034293137140830646,0.0029336256890275174,0.0001563009960736493,0.00319786139880644,-0.003438012400865872],"tcp_position_m":[0.07434379951683888,0.504728327811883,0.3057753050456582],"tcp_quaternion_wxyz":[9.216600613007164e-07,0.7071068167301402,0.7071067456389952,-2.178885494568973e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-6.429661437721035e-18,4.017047601829793e-18,-1.4727933744342165e-07],"object_linear_velocity_m_s":[-6.947820176834942e-18,-6.82881704667532e-18,1.0889367227241824e-14],"object_angular_velocity_rad_s":[3.2094573735787453e-16,6.074559353584963e-16,-3.2408302177106045e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513116587725,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982813461049989,-1.5785854062118103,1.625110125837191,-1.6431001854312888,-1.5707950897507779,-0.4120171317667635,0.0],"actuator_force":[3.001641744049266e-05,-21.010489256362234,-20.895823383679726,-2.4132608407632006,0.0006259236466803486,4.985545302815808e-06,-0.2933618264556198],"issued_joint_targets_rad":[-1.9828134622131832,-1.5680803735347073,1.6355577009094993,-1.6382735258853107,-1.5707963378275167,-0.41201713315859845],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.159999999999808,"joint_targets_rad":[-1.9828134622131832,-1.5680803735347073,1.6355577009094993,-1.6382735258853107,-1.5707963378275167,-0.41201713315859845],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.179999999999797,"qpos":[-1.982812662255239,-1.5680797899441552,1.6355377513513447,-1.6382499594551458,-1.5707964427904226,-0.4120162437719123,0.002933624512826986,0.00015630194839945917,0.0031934926579738304,-0.0034293122695032993,0.002933624259876084,0.00015630100314129876,0.0031978602232001206,-0.003438010887892619,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-2.960415602720372e-18,4.4321919080138105e-18,-1.4740221989294852e-07],"qvel":[-4.066882437789851e-06,-2.00993717255148e-06,0.00010134967002159419,-0.0001185561287701138,5.130472853023894e-07,-4.4921022690362016e-06,-6.847252816109605e-08,-1.595060367530908e-09,-6.814953120926181e-08,6.839751567081029e-08,-6.79196436736602e-08,2.4608045852569637e-10,-5.678080559908965e-08,7.158467177510591e-08,-4.836836262211299e-18,-4.4428696906506725e-18,1.0825529403325877e-14,4.912977254300426e-16,-2.735850505172749e-16,-3.5071432077942166e-09],"joint_position_rad":[-1.982812662255239,-1.5680797899441552,1.6355377513513447,-1.6382499594551458,-1.5707964427904226,-0.4120162437719123],"joint_velocity_rad_s":[-4.066882437789851e-06,-2.00993717255148e-06,0.00010134967002159419,-0.0001185561287701138,5.130472853023894e-07,-4.4921022690362016e-06],"linkage_position_rad":[0.002933624512826986,0.00015630194839945917,0.0031934926579738304,-0.0034293122695032993,0.002933624259876084,0.00015630100314129876,0.0031978602232001206,-0.003438010887892619],"tcp_position_m":[0.0743438521372428,0.5047283500689412,0.3057745290795437],"tcp_quaternion_wxyz":[8.434923208818465e-07,0.7071068136015557,0.7071067487682223,-1.9940905101926765e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-2.960415602720372e-18,4.4321919080138105e-18,-1.4740221989294852e-07],"object_linear_velocity_m_s":[-4.836836262211299e-18,-4.4428696906506725e-18,1.0825529403325877e-14],"object_angular_velocity_rad_s":[4.912976447448458e-16,-2.735851953747794e-16,-3.5071432077942228e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513126876496,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134622121778,-1.5785854143281295,1.6251101448525291,-1.6431002085236297,-1.57079508856401,-0.41201713316412786,0.0],"actuator_force":[2.6839096790354233e-05,-21.010444793079387,-20.89575286563968,-2.4132689213648746,0.0006258084777073236,4.514119126497462e-06,-0.2933617566742943],"issued_joint_targets_rad":[-1.9828134632653092,-1.5680803825324225,1.6355577172079399,-1.6382735455314634,-1.570796336785434,-0.4120171344243431],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.179999999999797,"joint_targets_rad":[-1.9828134632653092,-1.5680803825324225,1.6355577172079399,-1.6382735455314634,-1.570796336785434,-0.4120171344243431],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.199999999999786,"qpos":[-1.9828127395288437,-1.568079829815939,1.635539675600433,-1.6382522116552043,-1.5707964329386426,-0.41201632913626296,0.0029336232112491694,0.0001563019161201442,0.003193491364085083,-0.0034293109660638505,0.0029336229702878786,0.00015630100956862407,0.003197859162952864,-0.003438009522493309,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-3.4236688668185727e-18,-9.75215417126495e-19,-1.4783945599134728e-07],"qvel":[-3.678670001613842e-06,-1.9472143606611937e-06,9.165507464814323e-05,-0.0001073261052665771,4.701940446966446e-07,-4.0673384023736035e-06,-6.178624906009636e-08,-1.4403849549355246e-09,-6.149820510386443e-08,6.171358825163753e-08,-6.12863584142414e-08,2.2439537242616538e-10,-5.120969914936353e-08,6.460140964764615e-08,-3.1556414055749845e-19,-2.960310674456749e-18,1.085189720016073e-14,-1.169516332619217e-18,-1.7409114915861858e-16,-1.4097615207699554e-08],"joint_position_rad":[-1.9828127395288437,-1.568079829815939,1.635539675600433,-1.6382522116552043,-1.5707964329386426,-0.41201632913626296],"joint_velocity_rad_s":[-3.678670001613842e-06,-1.9472143606611937e-06,9.165507464814323e-05,-0.0001073261052665771,4.701940446966446e-07,-4.0673384023736035e-06],"linkage_position_rad":[0.0029336232112491694,0.0001563019161201442,0.003193491364085083,-0.0034293109660638505,0.0029336229702878786,0.00015630100956862407,0.003197859162952864,-0.003438009522493309],"tcp_position_m":[0.07434389978326525,0.5047283703957093,0.3057738289116685],"tcp_quaternion_wxyz":[7.718209951773757e-07,0.7071068107413294,0.7071067516289884,-1.8246476583993211e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-3.4236688668185727e-18,-9.75215417126495e-19,-1.4783945599134728e-07],"object_linear_velocity_m_s":[-3.1556414055749845e-19,-2.960310674456749e-18,1.085189720016073e-14],"object_angular_velocity_rad_s":[-1.169567780204328e-18,-1.7409114890934113e-16,-1.4097615207699579e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513136156432,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828134632644887,-1.5785854216037891,1.6251101620272315,-1.6431002293946615,-1.5707950874892003,-0.4120171344294027,0.0],"actuator_force":[2.3996710751816863e-05,-21.010404689955976,-20.895689176262294,-2.4132762592018935,0.0006257053165654725,4.087270383479336e-06,-0.29336169371381504],"issued_joint_targets_rad":[-1.9828134642179944,-1.5680803906599188,1.6355577319354462,-1.6382735632756054,-1.5707963358419623,-0.4120171355704564],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.199999999999786,"joint_targets_rad":[-1.9828134642179944,-1.5680803906599188,1.6355577319354462,-1.6382735632756054,-1.5707963358419623,-0.4120171355704564],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.219999999999775,"qpos":[-1.9828128094269086,-1.568079868327722,1.6355414157861632,-1.6382542505143882,-1.570796423911062,-0.4120164064287426,0.0029336220367686375,0.00015630188697017384,0.003193490196485995,-0.0034293097899865395,0.0029336218066458447,0.00015630101541324882,0.0031978582067575343,-0.0034380082902844607,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-6.566982131898313e-18,2.634446863672861e-18,-1.4816902547767848e-07],"qvel":[-3.3275872321095353e-06,-1.8776990168575066e-06,8.28879138680012e-05,-9.715951291863798e-05,4.308474545064985e-07,-3.682739551742782e-06,-5.5752336527523606e-08,-1.3007054245218798e-09,-5.549541631607117e-08,5.568257656153457e-08,-5.5300374703316376e-08,2.0457423142536284e-10,-4.618477023015462e-08,5.829873489547301e-08,-5.178889473725839e-18,-8.100642837170691e-18,1.0839407191133698e-14,-4.830398097225622e-16,5.406730560297819e-16,-5.666798951997426e-08],"joint_position_rad":[-1.9828128094269086,-1.568079868327722,1.6355414157861632,-1.6382542505143882,-1.570796423911062,-0.4120164064287426],"joint_velocity_rad_s":[-3.3275872321095353e-06,-1.8776990168575066e-06,8.28879138680012e-05,-9.715951291863798e-05,4.308474545064985e-07,-3.682739551742782e-06],"linkage_position_rad":[0.0029336220367686375,0.00015630188697017384,0.003193490196485995,-0.0034293097899865395,0.0029336218066458447,0.00015630101541324882,0.0031978582067575343,-0.0034380082902844607],"tcp_position_m":[0.07434394292569088,0.5047283889573677,0.30577319713543205],"tcp_quaternion_wxyz":[7.061211811924322e-07,0.7071068081272475,0.7071067542435229,-1.6693177524288035e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-6.566982131898313e-18,2.634446863672861e-18,-1.4816902547767848e-07],"object_linear_velocity_m_s":[-5.178889473725839e-18,-8.100642837170691e-18,1.0839407191133698e-14],"object_angular_velocity_rad_s":[-4.8303964979912e-16,5.406731984285597e-16,-5.666798951997437e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513144526321,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982813464217325,-1.5785854281271146,1.6251101775418864,-1.6431002482616484,-1.5707950865157383,-0.4120171355750853,0.0],"actuator_force":[2.1454060060932534e-05,-21.010368519178428,-20.89563165410118,-2.413282922338226,0.000625612916337559,3.700783793192386e-06,-0.29336163690716793],"issued_joint_targets_rad":[-1.9828134650806482,-1.5680803980026883,1.635557745245417,-1.638273579304845,-1.5707963349877312,-0.4120171366082544],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.219999999999775,"joint_targets_rad":[-1.9828134650806482,-1.5680803980026883,1.635557745245417,-1.638273579304845,-1.5707963349877312,-0.4120171366082544],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.239999999999764,"qpos":[-1.9828128726547771,-1.568079905367372,1.635542989517102,-1.6382560962358677,-1.5707964156400898,-0.4120164764126152,0.0029336209769838927,0.0001563018606459746,0.003193489142859458,-0.003429308728836635,0.0029336207566589977,0.00015630102072774037,0.0031978573444131956,-0.0034380071782835523,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999999,-6.5221761810464166e-18,4.1865194309295044e-18,-1.483838933014826e-07],"qvel":[-3.0100757216367393e-06,-1.8033104921116363e-06,7.495946365460908e-05,-8.79556942606866e-05,3.9472871516999876e-07,-3.33450779659683e-06,-5.0307250000299355e-08,-1.1745574150767182e-09,-5.007814247998764e-08,5.0240312384875154e-08,-4.989863348612957e-08,1.8648024816326653e-10,-4.1652516377965855e-08,5.261065130454331e-08,-3.717846746935866e-18,-6.8958665628198256e-18,1.0819978288202755e-14,8.602160708439003e-17,5.402467590683738e-17,-6.132464251234994e-09],"joint_position_rad":[-1.9828128726547771,-1.568079905367372,1.635542989517102,-1.6382560962358677,-1.5707964156400898,-0.4120164764126152],"joint_velocity_rad_s":[-3.0100757216367393e-06,-1.8033104921116363e-06,7.495946365460908e-05,-8.79556942606866e-05,3.9472871516999876e-07,-3.33450779659683e-06],"linkage_position_rad":[0.0029336209769838927,0.0001563018606459746,0.003193489142859458,-0.003429308728836635,0.0029336207566589977,0.00015630102072774037,0.0031978573444131956,-0.0034380071782835523],"tcp_position_m":[0.07434398199068659,0.5047284059051944,0.3057726270682054],"tcp_quaternion_wxyz":[6.459086436945612e-07,0.7071068057388392,0.7071067566323106,-1.5269574094782574e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999999,-6.5221761810464166e-18,4.1865194309295044e-18,-1.483838933014826e-07],"object_linear_velocity_m_s":[-3.717846746935866e-18,-6.8958665628198256e-18,1.0819978288202755e-14],"object_angular_velocity_rad_s":[8.602162306582253e-17,5.402465029839916e-17,-6.132464251235006e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513152075321,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982813465080102,-1.578585433976942,1.6251101915589377,-1.6431002653199693,-1.5707950856340294,-0.41201713661248857,0.0],"actuator_force":[1.917963891173713e-05,-21.010335894943182,-20.895579701790666,-2.4132889726247413,0.0006255301585724737,3.350842973759427e-06,-0.293361585652727],"issued_joint_targets_rad":[-1.9828258883816676,-1.5710978881785005,1.592691034822874,-1.5926009186311074,-1.570781260238144,-0.41202953152178173],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.239999999999764,"joint_targets_rad":[-1.9828258883816676,-1.5710978881785005,1.592691034822874,-1.5926009186311074,-1.570781260238144,-0.41202953152178173],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.259999999999753,"qpos":[-1.982813438143157,-1.5681257544370835,1.6342900246606349,-1.636749681931844,-1.5707952595623742,-0.4120176691809093,0.0029489909888474933,0.00016035897700025577,0.0032076280660291215,-0.003453727161436815,0.002947423856336466,0.00015551826870443237,0.0031862161248333203,-0.0034666272153021406,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,3.700395233244873e-18,1.2471639618081602e-17,-1.487888190604043e-07],"qvel":[0.00018502191199394334,-0.0021069563700455178,-0.12890917337951205,0.14330513671001355,7.226173574508564e-05,-6.006937535395207e-05,0.0007892328825909092,8.46260129333869e-05,0.0006282160129244927,-0.001117348221818615,0.0007558198228859614,2.306333033983884e-05,0.00031705510828630804,-0.0011073836800353399,-1.9050600824554263e-17,2.3265853915095187e-18,1.1246026373902656e-14,3.774428931278256e-16,2.246638385728364e-16,-2.465058201693763e-08],"joint_position_rad":[-1.982813438143157,-1.5681257544370835,1.6342900246606349,-1.636749681931844,-1.5707952595623742,-0.4120176691809093],"joint_velocity_rad_s":[0.00018502191199394334,-0.0021069563700455178,-0.12890917337951205,0.14330513671001355,7.226173574508564e-05,-6.006937535395207e-05],"linkage_position_rad":[0.0029489909888474933,0.00016035897700025577,0.0032076280660291215,-0.003453727161436815,0.002947423856336466,0.00015551826870443237,0.0031862161248333203,-0.0034666272153021406],"tcp_position_m":[0.07432853861372084,0.5046931122551961,0.3062599242434134],"tcp_quaternion_wxyz":[3.797040744627384e-05,0.7071065800706162,0.7071069744382799,-9.838610828142471e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,3.700395233244873e-18,1.2471639618081602e-17,-1.487888190604043e-07],"object_linear_velocity_m_s":[-1.9050600824554263e-17,2.3265853915095187e-18,1.1246026373902656e-14],"object_angular_velocity_rad_s":[3.77442959367877e-16,2.246637264366957e-16,-2.4650582016937627e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313679762567185,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982824376653783,-1.5816082746725488,1.5951100878645919,-1.6130977776811883,-1.5707800064746262,-0.412029532496957,0.0],"actuator_force":[-0.09588578604962095,-26.122257922912468,-26.796204240280986,-2.504561545673482,0.00040037029953055026,7.527951154884249e-05,-0.3025460057865823],"issued_joint_targets_rad":[-1.9828257963983786,-1.5711965548165687,1.591546398965304,-1.5913565716157876,-1.5707813208054606,-0.41202944212823744],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.259999999999753,"joint_targets_rad":[-1.9828257963983786,-1.5711965548165687,1.591546398965304,-1.5913565716157876,-1.5707813208054606,-0.41202944212823744],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.279999999999742,"qpos":[-1.982820565936154,-1.5682424039108578,1.6306433879143432,-1.632810251209162,-1.5707930873655613,-0.4120188044879821,0.002955959264655081,0.00015830183988861784,0.003214300822417308,-0.0034571307362670114,0.002955222929635204,0.00015675514485069742,0.0032094232000674633,-0.0034675797655317458,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,7.093243849588531e-18,6.008044501094431e-18,-1.4898437591012307e-07],"qvel":[-0.0007938360242811867,-0.012716623910932489,-0.19668362274382523,0.20957390567543915,2.4402708611231648e-05,-5.3297178511064784e-05,-0.00022721858885863558,-0.00028486968942660184,-0.0002062421036274402,0.0008840849106837578,-0.00010450461519277509,6.511789011579184e-05,0.00160379680219775,0.0011049889397970177,2.7125701639980686e-17,2.725328969454112e-17,1.1623502202275207e-14,3.2278004081486543e-15,-3.581515743059272e-15,-9.908760473430334e-08],"joint_position_rad":[-1.982820565936154,-1.5682424039108578,1.6306433879143432,-1.632810251209162,-1.5707930873655613,-0.4120188044879821],"joint_velocity_rad_s":[-0.0007938360242811867,-0.012716623910932489,-0.19668362274382523,0.20957390567543915,2.4402708611231648e-05,-5.3297178511064784e-05],"linkage_position_rad":[0.002955959264655081,0.00015830183988861784,0.003214300822417308,-0.0034571307362670114,0.002955222929635204,0.00015675514485069742,0.0032094232000674633,-0.0034675797655317458],"tcp_position_m":[0.0743316772796414,0.5046929204353477,0.30771461318148075],"tcp_quaternion_wxyz":[6.90840997899985e-05,0.7071086896028054,0.707104846279389,-0.00018078659122230725],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,7.093243849588531e-18,6.008044501094431e-18,-1.4898437591012307e-07],"object_linear_velocity_m_s":[2.7125701639980686e-17,2.725328969454112e-17,1.1623502202275207e-14],"object_angular_velocity_rad_s":[3.2277993397780905e-15,-3.581516703437067e-15,-9.908760473430334e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313458232448653,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982821491289805,-1.5817172254426037,1.581097629355998,-1.596176674937284,-1.5707800599656383,-0.41202944479866005,0.0],"actuator_force":[0.3156837024107517,-21.862993499118602,-20.418068019160273,-2.640602431604975,0.00407342910045827,9.562512133243217e-06,-0.29390049369425714],"issued_joint_targets_rad":[-1.9828309439703988,-1.5712564354319363,1.5878974092750888,-1.5876471530711935,-1.5707813039776937,-0.412034579499925],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.279999999999742,"joint_targets_rad":[-1.9828309439703988,-1.5712564354319363,1.5878974092750888,-1.5876471530711935,-1.5707813039776937,-0.412034579499925],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.29999999999973,"qpos":[-1.982825864732389,-1.5685155884425934,1.6265829563027128,-1.62850792391045,-1.570792471691766,-0.412020287983115,0.002952033950688446,0.00015607680195563715,0.0032111705817422123,-0.003446750058528948,0.0029521964109169587,0.0001565916367218459,0.003217796148402498,-0.0034554405165914837,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,1.533734890199129e-17,-8.361911801480903e-18,-1.4936008604516698e-07],"qvel":[-0.0001520141166567315,-0.015253065510862366,-0.19636052692085196,0.20556014131488365,3.7429115335870266e-05,-7.201091092898441e-05,-0.00030359956850354317,-6.284477002495787e-05,-0.00023582917532282736,0.0004937555761489785,-0.0002813494813803826,-1.2812896833188302e-05,6.164910151120323e-05,0.0005571231023311062,7.468910862741482e-18,1.5067742413989445e-17,1.169983003521819e-14,-5.4295849280343185e-17,-1.876774285779675e-16,-1.0723006037816565e-08],"joint_position_rad":[-1.982825864732389,-1.5685155884425934,1.6265829563027128,-1.62850792391045,-1.570792471691766,-0.412020287983115],"joint_velocity_rad_s":[-0.0001520141166567315,-0.015253065510862366,-0.19636052692085196,0.20556014131488365,3.7429115335870266e-05,-7.201091092898441e-05],"linkage_position_rad":[0.002952033950688446,0.00015607680195563715,0.0032111705817422123,-0.003446750058528948,0.0029521964109169587,0.0001565916367218459,0.003217796148402498,-0.0034554405165914837],"tcp_position_m":[0.07433187020563375,0.5046872423036025,0.30941371517172583],"tcp_quaternion_wxyz":[6.309042564115117e-05,0.7071100405852435,0.7071034993949707,-0.0001663325553993524],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,1.533734890199129e-17,-8.361911801480903e-18,-1.4936008604516698e-07],"object_linear_velocity_m_s":[7.468910862741482e-18,1.5067742413989445e-17,1.169983003521819e-14],"object_angular_velocity_rad_s":[-5.429590516404482e-17,-1.8767741202976876e-16,-1.0723006037816565e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313337528169605,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828265145998303,-1.5817742462258095,1.577446279486556,-1.5924671328571125,-1.5707800415260946,-0.41203458219188627,0.0],"actuator_force":[0.05950591178043396,-20.41608936208695,-19.72914286397281,-2.5356186048196605,0.0024721713020880998,5.398670725753618e-05,-0.29228677283085064],"issued_joint_targets_rad":[-1.9828353179360172,-1.5713264011530987,1.5836361533856123,-1.5833167297232171,-1.570781161493599,-0.41203894663160856],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.29999999999973,"joint_targets_rad":[-1.9828353179360172,-1.5713264011530987,1.5836361533856123,-1.5833167297232171,-1.570781161493599,-0.41203894663160856],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.31999999999972,"qpos":[-1.9828260094305898,-1.5687870519592293,1.6225042351147394,-1.6242151000038194,-1.5707914079732885,-0.41202205614763726,0.0029486328076253326,0.00015598304308681163,0.0032081019310296367,-0.0034432677305801683,0.002948767961697105,0.00015650381721215545,0.0032152263340223045,-0.00345142003150319,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,1.5911682295074957e-17,-4.0026221915725834e-18,-1.4970747373651447e-07],"qvel":[-0.00012400776780816414,-0.014419231258676989,-0.19736452226467974,0.2057026538333768,4.149181866410245e-05,-8.521095866617043e-05,-0.00027326524309722477,-4.1592422220623973e-05,-0.00023079788794499922,0.0003800204329651868,-0.00025385173646771746,3.5000784198481675e-06,-3.752953908913965e-06,0.0003982610057174959,5.620326693454063e-18,2.1878437759433683e-17,1.1601297741782708e-14,7.659854902400359e-17,6.04612672218908e-16,-4.310311955752148e-08],"joint_position_rad":[-1.9828260094305898,-1.5687870519592293,1.6225042351147394,-1.6242151000038194,-1.5707914079732885,-0.41202205614763726],"joint_velocity_rad_s":[-0.00012400776780816414,-0.014419231258676989,-0.19736452226467974,0.2057026538333768,4.149181866410245e-05,-8.521095866617043e-05],"linkage_position_rad":[0.0029486328076253326,0.00015598304308681163,0.0032081019310296367,-0.0034432677305801683,0.002948767961697105,0.00015650381721215545,0.0032152263340223045,-0.00345142003150319],"tcp_position_m":[0.0743295173121514,0.5046823602811905,0.31112230209172964],"tcp_quaternion_wxyz":[5.213366193736205e-05,0.7071094699385754,0.707104076678259,-0.00013982222242740197],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,1.5911682295074957e-17,-4.0026221915725834e-18,-1.4970747373651447e-07],"object_linear_velocity_m_s":[5.620326693454063e-18,2.1878437759433683e-17,1.1601297741782708e-14],"object_angular_velocity_rad_s":[7.659873039912288e-17,6.046126506558167e-16,-4.310311955752149e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313355851912754,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982830878975943,-1.5818407945637403,1.5731827182968596,-1.588136855201056,-1.5707798955719927,-0.41203894925593004,0.0],"actuator_force":[0.0398640164171411,-20.33979270555119,-19.69722472988815,-2.531142981956009,0.0016070187815557802,7.454172023813044e-05,-0.2922344535682972],"issued_joint_targets_rad":[-1.9828350876934009,-1.5713787614320003,1.579333529901137,-1.5789627122879801,-1.5707809967654665,-0.41203872070673214],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.31999999999972,"joint_targets_rad":[-1.9828350876934009,-1.5713787614320003,1.579333529901137,-1.5789627122879801,-1.5707809967654665,-0.41203872070673214],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.339999999999709,"qpos":[-1.9828258709857256,-1.5690385739518793,1.618404202515821,-1.6199169437201055,-1.570790398346231,-0.4120236548960579,0.0029458153146751085,0.00015598384202509182,0.0032053448521502854,-0.0034406175727928817,0.0029459454564588904,0.00015650709279714758,0.0032125127343649268,-0.0034487393586045013,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,1.0627502849456735e-17,6.675941446231625e-19,-1.4987090768885583e-07],"qvel":[-0.0001243207375028428,-0.013416327127259068,-0.198389310004128,0.20598128409013938,3.7746217237973094e-05,-7.599871296333438e-05,-0.00024608515888650904,-4.187097599229298e-05,-0.00020827787077440878,0.00035845876866788995,-0.0002256784816746248,3.885320636010165e-06,1.5927116081877524e-05,0.000369909096515641,1.5055339906180593e-18,1.3286053318552127e-17,1.164015554764459e-14,-5.525590236209051e-16,3.0021435415472026e-16,-4.664508870747211e-09],"joint_position_rad":[-1.9828258709857256,-1.5690385739518793,1.618404202515821,-1.6199169437201055,-1.570790398346231,-0.4120236548960579],"joint_velocity_rad_s":[-0.0001243207375028428,-0.013416327127259068,-0.198389310004128,0.20598128409013938,3.7746217237973094e-05,-7.599871296333438e-05],"linkage_position_rad":[0.0029458153146751085,0.00015598384202509182,0.0032053448521502854,-0.0034406175727928817,0.0029459454564588904,0.00015650709279714758,0.0032125127343649268,-0.0034487393586045013],"tcp_position_m":[0.07432706623852504,0.5046775670706426,0.3128313823558268],"tcp_quaternion_wxyz":[4.1924829423346364e-05,0.7071088583112538,0.7071046934374653,-0.00011514673684905935],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,1.0627502849456735e-17,6.675941446231625e-19,-1.4987090768885583e-07],"object_linear_velocity_m_s":[1.5055339906180593e-18,1.3286053318552127e-17,1.164015554764459e-14],"object_angular_velocity_rad_s":[-5.525589336403129e-16,3.0021451987889587e-16,-4.6645088707472115e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313380479262008,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828306468209895,-1.581889950803971,1.5688779628419116,-1.5837829815371032,-1.5707797274972346,-0.4120387232648547,0.0],"actuator_force":[0.040176624473133415,-20.336222853280105,-19.69675534616772,-2.531147317512705,0.001560802774520198,6.568689792629812e-05,-0.2922292203538943],"issued_joint_targets_rad":[-1.982834638221962,-1.5714134000737836,1.5750122124860058,-1.5746077065437343,-1.570780833591047,-0.4120382757329617],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.339999999999709,"joint_targets_rad":[-1.982834638221962,-1.5714134000737836,1.5750122124860058,-1.5746077065437343,-1.570780833591047,-0.4120382757329617],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.359999999999697,"qpos":[-1.9828257035123062,-1.569269411931239,1.6142831997376947,-1.615613364891779,-1.5707894676929735,-0.412025058784944,0.0029435005098672486,0.00015598341385095985,0.0032030498076509387,-0.0034384162423711207,0.0029436310721312558,0.00015650953795642476,0.003210232289909818,-0.0034465367317316298,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-5.328642216787494e-18,1.5917937137797204e-18,-1.5032455162918171e-07],"qvel":[-0.00012650265667992898,-0.0124176594961431,-0.19939768470296904,0.2062402246550519,3.3944000292708016e-05,-6.66604711281369e-05,-0.00022301233522461144,-4.184749343813401e-05,-0.00018482221453412437,0.0003367816566844337,-0.0002025540252820251,4.006293455699367e-06,3.946401845579074e-05,0.00034832208477957884,-1.6494300276348763e-18,-6.155208119435702e-18,1.1612399972028957e-14,-5.274500182442053e-16,1.1152287862891329e-16,-1.8749862009226308e-08],"joint_position_rad":[-1.9828257035123062,-1.569269411931239,1.6142831997376947,-1.615613364891779,-1.5707894676929735,-0.412025058784944],"joint_velocity_rad_s":[-0.00012650265667992898,-0.0124176594961431,-0.19939768470296904,0.2062402246550519,3.3944000292708016e-05,-6.66604711281369e-05],"linkage_position_rad":[0.0029435005098672486,0.00015598341385095985,0.0032030498076509387,-0.0034384162423711207,0.0029436310721312558,0.00015650953795642476,0.003210232289909818,-0.0034465367317316298],"tcp_position_m":[0.07432464608191068,0.504672829830577,0.3145403880994268],"tcp_quaternion_wxyz":[3.2689572385100375e-05,0.7071083046174089,0.7071052509009668,-9.284807860121038e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-5.328642216787494e-18,1.5917937137797204e-18,-1.5032455162918171e-07],"object_linear_velocity_m_s":[-1.6494300276348763e-18,-6.155208119435702e-18,1.1612399972028957e-14],"object_angular_velocity_rad_s":[-5.2744998477462e-16,1.1152303700646067e-16,-1.8749862009226318e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313401268477427,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828301961026993,-1.5819216404171095,1.5645546935094552,-1.579428102840241,-1.5707795612358886,-0.4120382782309898,0.0],"actuator_force":[0.04161588188571841,-20.337393173284,-19.697938575291573,-2.5313914397362396,0.0015588285131116209,5.632408991118609e-05,-0.29222874729739207],"issued_joint_targets_rad":[-1.982834197352303,-1.5714303122851585,1.5706735502592126,-1.5702530592479507,-1.570780672951556,-0.41203783895231993],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.359999999999697,"joint_targets_rad":[-1.982834197352303,-1.5714303122851585,1.5706735502592126,-1.5702530592479507,-1.570780672951556,-0.41203783895231993],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.379999999999686,"qpos":[-1.9828255243388204,-1.5694797951038129,1.6101415792654603,-1.6113048871491207,-1.5707886104874207,-0.4120262862009095,0.0029416030639238646,0.00015598356318965146,0.0032011679887276033,-0.0034366133465533965,0.0029417339897251896,0.0001565121040604799,0.0032083619364416606,-0.0034447311204002812,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-8.186721664791987e-18,-5.49384554874566e-18,-1.505702859409084e-07],"qvel":[-0.00012888403299281866,-0.01143228715654971,-0.2003892152197235,0.20647278695329357,3.0473081343540337e-05,-5.825474875285488e-05,-0.00020404708321264015,-4.186825175522993e-05,-0.00016507744927520622,0.0003189917952783381,-0.00018355605947149476,4.134152078689834e-06,5.9635417743817376e-05,0.0003304649718635091,3.7131685369007244e-17,-2.9351617184430983e-17,1.1574929944947854e-14,-8.583724890645287e-16,-3.1034558959218906e-15,-7.536856185857386e-08],"joint_position_rad":[-1.9828255243388204,-1.5694797951038129,1.6101415792654603,-1.6113048871491207,-1.5707886104874207,-0.4120262862009095],"joint_velocity_rad_s":[-0.00012888403299281866,-0.01143228715654971,-0.2003892152197235,0.20647278695329357,3.0473081343540337e-05,-5.825474875285488e-05],"linkage_position_rad":[0.0029416030639238646,0.00015598356318965146,0.0032011679887276033,-0.0034366133465533965,0.0029417339897251896,0.0001565121040604799,0.0032083619364416606,-0.0034447311204002812],"tcp_position_m":[0.07432226434928564,0.5046681479688069,0.31624928487984255],"tcp_quaternion_wxyz":[2.435228967370333e-05,0.7071078086295925,0.7071057495811965,-7.27408765179035e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-8.186721664791987e-18,-5.49384554874566e-18,-1.505702859409084e-07],"object_linear_velocity_m_s":[3.7131685369007244e-17,-2.9351617184430983e-17,1.1574929944947854e-14],"object_angular_velocity_rad_s":[-8.583734228128473e-16,-3.1034556386650124e-15,-7.53685618585739e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313418327379236,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828297542126552,-1.5819358557350387,1.5602142594516268,-1.5750735665608535,-1.5707793977538274,-0.4120378413960617,0.0],"actuator_force":[0.043093865527680464,-20.33920639983171,-19.69895353977745,-2.531618401195715,0.0015590586623375202,4.78772991527876e-05,-0.29222883696903207],"issued_joint_targets_rad":[-1.9828337776193723,-1.5714295042065227,1.5663175464599346,-1.5658987700335523,-1.5707805145618863,-0.41203742290047896],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.379999999999686,"joint_targets_rad":[-1.9828337776193723,-1.5714295042065227,1.5663175464599346,-1.5658987700335523,-1.5707805145618863,-0.41203742290047896],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.399999999999675,"qpos":[-1.9828253361701857,-1.5696699849830253,1.605979656015673,-1.6069920133638935,-1.570787820015844,-0.41202735598722906,0.00294004789660319,0.00015598361214513856,0.0031996267864960615,-0.003435135568130924,0.0029401791644860405,0.00015651454064526596,0.003206831653814795,-0.0034432508510584083,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-8.77478055845612e-18,-1.4593959510656184e-17,-1.508560606614688e-07],"qvel":[-0.00013135737066580677,-0.010459517950205327,-0.20136574809957328,0.20668136073785523,2.7326387066571973e-05,-5.074990222615499e-05,-0.00018850462428500911,-4.190028347164877e-05,-0.00014871255554949216,0.0003045052372253616,-0.00016797873995201464,4.253443043432095e-06,7.645577996904565e-05,0.00031590572164547727,1.562472234988614e-17,-1.1494681634659999e-17,1.1540235475428318e-14,2.278800763685082e-16,3.8207171743946814e-16,-8.156192149746062e-09],"joint_position_rad":[-1.9828253361701857,-1.5696699849830253,1.605979656015673,-1.6069920133638935,-1.570787820015844,-0.41202735598722906],"joint_velocity_rad_s":[-0.00013135737066580677,-0.010459517950205327,-0.20136574809957328,0.20668136073785523,2.7326387066571973e-05,-5.074990222615499e-05],"linkage_position_rad":[0.00294004789660319,0.00015598361214513856,0.0031996267864960615,-0.003435135568130924,0.0029401791644860405,0.00015651454064526596,0.003206831653814795,-0.0034432508510584083],"tcp_position_m":[0.07431992120590937,0.5046635228270488,0.3179580699184536],"tcp_quaternion_wxyz":[1.6827872966241053e-05,0.7071073647638911,0.7071061952991639,-5.461710811350849e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-8.77478055845612e-18,-1.4593959510656184e-17,-1.508560606614688e-07],"object_linear_velocity_m_s":[1.562472234988614e-17,-1.1494681634659999e-17,1.1540235475428318e-14],"object_angular_velocity_rad_s":[2.2788019188222856e-16,3.820716485421321e-16,-8.156192149746065e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313432276938965,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828293336345268,-1.5819325978885463,1.5558566635796103,-1.570719373790443,-1.5707792367437978,-0.4120374252952098,0.0],"actuator_force":[0.04454801958399912,-20.34141863095965,-19.69968563229577,-2.5318162870603373,0.0015589973164651383,4.033623224586336e-05,-0.2922289362332764],"issued_joint_targets_rad":[-1.9828333785726793,-1.5714109808529708,1.5619441229361708,-1.5615447585755333,-1.5707803580969202,-0.4120370271606915],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.399999999999675,"joint_targets_rad":[-1.9828333785726793,-1.5714109808529708,1.5619441229361708,-1.5615447585755333,-1.5707803580969202,-0.4120370271606915],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.419999999999664,"qpos":[-1.982825140678771,-1.5698402214866471,1.601797707026365,-1.6026751922907632,-1.5707870900754262,-0.4120282852023825,0.002938773241831282,0.00015598352453740163,0.0031983648875419744,-0.0034339240157365528,0.002938904837457302,0.00015651680217757617,0.003205580280086336,-0.0034420369381231355,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,4.964711648501668e-19,-5.758242033194222e-18,-1.5126636144944787e-07],"qvel":[-0.0001339086718338338,-0.009498188024861449,-0.2023290914153395,0.20686860748011343,2.4475756510165227e-05,-4.405767719402912e-05,-0.00017576781882312428,-4.193135743077755e-05,-0.00013513110567303416,0.000292682852350398,-0.00015520681254874592,4.3749090318588114e-06,9.05015165416894e-05,0.00030401549615291377,9.095327931505401e-18,-3.4476407155371498e-18,1.145419319101987e-14,6.408479603933825e-16,9.586329038046436e-16,-3.2785333154239706e-08],"joint_position_rad":[-1.982825140678771,-1.5698402214866471,1.601797707026365,-1.6026751922907632,-1.5707870900754262,-0.4120282852023825],"joint_velocity_rad_s":[-0.0001339086718338338,-0.009498188024861449,-0.2023290914153395,0.20686860748011343,2.4475756510165227e-05,-4.405767719402912e-05],"linkage_position_rad":[0.002938773241831282,0.00015598352453740163,0.0031983648875419744,-0.0034339240157365528,0.002938904837457302,0.00015651680217757617,0.003205580280086336,-0.0034420369381231355],"tcp_position_m":[0.07431761649269683,0.5046589559477245,0.3196667424236491],"tcp_quaternion_wxyz":[1.0038354178649492e-05,0.7071069676781511,0.7071065935871358,-3.828627058053061e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,4.964711648501668e-19,-5.758242033194222e-18,-1.5126636144944787e-07],"object_linear_velocity_m_s":[9.095327931505401e-18,-3.4476407155371498e-18,1.145419319101987e-14],"object_angular_velocity_rad_s":[6.408482507887481e-16,9.586327099596759e-16,-3.2785333154239726e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313443673669483,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828289338921066,-1.5819118672198547,1.5514818274174045,-1.5663654455710307,-1.5707790778600472,-0.41203702951118854,0.0],"actuator_force":[0.04597704206207709,-20.344016256470695,-19.700122651785023,-2.531987388145126,0.0015585320385298473,3.361331638984666e-05,-0.2922290308075698],"issued_joint_targets_rad":[-1.9828329990882543,-1.571374745494013,1.5575531948303698,-1.5571909393617633,-1.5707802032602347,-0.4120366506422619],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.419999999999664,"joint_targets_rad":[-1.9828329990882543,-1.571374745494013,1.5575531948303698,-1.5571909393617633,-1.5707802032602347,-0.4120366506422619],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.439999999999653,"qpos":[-1.9828249393298394,-1.5699907218180689,1.597595974694443,-1.5983548216123358,-1.5707864150230857,-0.4120290891683632,0.00293772847964658,0.0001559833265238231,0.0031973319224164035,-0.003432930651602747,0.00293786038916026,0.0001565189171383116,0.0032045574913681747,-0.003441041317833908,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,2.676003394102322e-18,4.383189842088308e-19,-1.5139067348605293e-07],"qvel":[-0.00013653027330608615,-0.008547205927584543,-0.20328089669894647,0.2070369655452565,2.189427645014913e-05,-3.809517399775086e-05,-0.00016533058004205745,-4.196167899956727e-05,-0.00012383202811685259,0.0002830450052905681,-0.00014473405712258397,4.49890041407661e-06,0.00010227327898672513,0.00029431148918372533,2.388024099735673e-18,1.2942963346924244e-18,1.1397294261007828e-14,3.880688220264876e-18,2.374441132328633e-16,-3.5479445315831502e-09],"joint_position_rad":[-1.9828249393298394,-1.5699907218180689,1.597595974694443,-1.5983548216123358,-1.5707864150230857,-0.4120290891683632],"joint_velocity_rad_s":[-0.00013653027330608615,-0.008547205927584543,-0.20328089669894647,0.2070369655452565,2.189427645014913e-05,-3.809517399775086e-05],"linkage_position_rad":[0.00293772847964658,0.0001559833265238231,0.0031973319224164035,-0.003432930651602747,0.00293786038916026,0.0001565189171383116,0.0032045574913681747,-0.003441041317833908],"tcp_position_m":[0.07431535013715941,0.504654448968492,0.3213753017840994],"tcp_quaternion_wxyz":[3.913166803743443e-06,0.7071066125511647,0.7071069494180326,-2.3575982469285794e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,2.676003394102322e-18,4.383189842088308e-19,-1.5139067348605293e-07],"object_linear_velocity_m_s":[2.388024099735673e-18,1.2942963346924244e-18,1.1397294261007828e-14],"object_angular_velocity_rad_s":[3.880760110802877e-18,2.374441120768412e-16,-3.5479445315831527e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313452977957813,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828285538392543,-1.5818736627686045,1.547089665807516,-1.5620116976278702,-1.5707789207873704,-0.41203665295285,0.0],"actuator_force":[0.0473830904929855,-20.34699953003792,-19.700259094275225,-2.5321345622928675,0.00155769021262131,2.762515637755314e-05,-0.2922291202545188],"issued_joint_targets_rad":[-1.982832638092494,-1.5713207996535863,1.5531446750118447,-1.5528372261173604,-1.5707800497845252,-0.412036292302461],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.439999999999653,"joint_targets_rad":[-1.982832638092494,-1.5713207996535863,1.5531446750118447,-1.5528372261173604,-1.5707800497845252,-0.412036292302461],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.459999999999642,"qpos":[-1.982824733444012,-1.5701216823132775,1.5933746698920406,-1.594031252660674,-1.5707857897304023,-0.4120297816383054,0.0029368721234217876,0.0001559830384573774,0.0031964865924437405,-0.003432116093682639,0.002937004334424514,0.0001565209106763618,0.0032037220277728205,-0.003440224599747133,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,9.131889714375696e-18,-2.9533533869341222e-18,-1.5183299629194157e-07],"qvel":[-0.00013921550403919603,-0.007605575851738416,-0.20422266693518293,0.20718864371700874,1.955740014071034e-05,-3.278765882595792e-05,-0.0001567780640138155,-4.1991468803498034e-05,-0.00011440250066314798,0.0002751980947450654,-0.0001361456255104134,4.625185204952631e-06,0.0001121836320360182,0.0002864000388022055,3.3151584602274363e-18,1.1625620582054975e-17,1.1341783109776569e-14,1.9052089000951485e-17,-1.4600178957499488e-16,-1.4261623726500234e-08],"joint_position_rad":[-1.982824733444012,-1.5701216823132775,1.5933746698920406,-1.594031252660674,-1.5707857897304023,-0.4120297816383054],"joint_velocity_rad_s":[-0.00013921550403919603,-0.007605575851738416,-0.20422266693518293,0.20718864371700874,1.955740014071034e-05,-3.278765882595792e-05],"linkage_position_rad":[0.0029368721234217876,0.0001559830384573774,0.0031964865924437405,-0.003432116093682639,0.002937004334424514,0.0001565209106763618,0.0032037220277728205,-0.003440224599747133],"tcp_position_m":[0.0743131221693646,0.5046500036107787,0.32308374744421076],"tcp_quaternion_wxyz":[-1.6115050428669575e-06,0.7071062950492855,0.7071072672461785,-1.0330384916533444e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,9.131889714375696e-18,-2.9533533869341222e-18,-1.5183299629194157e-07],"object_linear_velocity_m_s":[3.3151584602274363e-18,1.1625620582054975e-17,1.1341783109776569e-14],"object_angular_velocity_rad_s":[1.905204474941154e-17,-1.4600179509998864e-16,-1.4261623726500248e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313460567348977,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828281923822206,-1.5818179822395426,1.5426800913434726,-1.5576580448035189,-1.5707787652413931,-0.4120362945770559,0.0],"actuator_force":[0.04876832519857999,-20.350369511834742,-19.700090323062796,-2.5322604431232776,0.0015565044905088143,2.229650735330324e-05,-0.29222920444469397],"issued_joint_targets_rad":[-1.9828322945969443,-1.57124914313601,1.5487184742780937,-1.5484835320013584,-1.570779897428428,-0.4120359511812962],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.459999999999642,"joint_targets_rad":[-1.9828322945969443,-1.57124914313601,1.5487184742780937,-1.5484835320013584,-1.570779897428428,-0.4120359511812962],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.479999999999631,"qpos":[-1.9828245242124494,-1.5702332802845247,1.5891339747890614,-1.5897047947982084,-1.5707852095371422,-0.4120303749546321,0.002936170172766069,0.0001559826769825234,0.0031957950500818523,-0.0034314480665982587,0.0029363026741822144,0.00015652280368161142,0.0032030400762495187,-0.0034395544998080288,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-8.734017413965905e-19,-5.804962238084942e-18,-1.5216639991635204e-07],"qvel":[-0.00014195830721598198,-0.006672390334648076,-0.20515577068038965,0.2073256418338776,1.744280983652015e-05,-2.8067941224016716e-05,-0.00014977026436931694,-4.202089512284489e-05,-0.00010650396717699868,0.00026881936676823444,-0.00012910151450082777,4.7535898310625404e-06,0.00012057097207470624,0.0002799583172383592,9.228623182901627e-18,-1.6047149645189234e-17,1.1333456437091878e-14,-1.9837097736338732e-15,-6.861021291381352e-16,-5.7327252302202246e-08],"joint_position_rad":[-1.9828245242124494,-1.5702332802845247,1.5891339747890614,-1.5897047947982084,-1.5707852095371422,-0.4120303749546321],"joint_velocity_rad_s":[-0.00014195830721598198,-0.006672390334648076,-0.20515577068038965,0.2073256418338776,1.744280983652015e-05,-2.8067941224016716e-05],"linkage_position_rad":[0.002936170172766069,0.0001559826769825234,0.0031957950500818523,-0.0034314480665982587,0.0029363026741822144,0.00015652280368161142,0.0032030400762495187,-0.0034395544998080288],"tcp_position_m":[0.07431093271499715,0.504645621674916,0.32479207888425043],"tcp_quaternion_wxyz":[-6.593369014307507e-06,0.7071060112789682,0.7071075510607576,1.591433579279883e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-8.734017413965905e-19,-5.804962238084942e-18,-1.5216639991635204e-07],"object_linear_velocity_m_s":[9.228623182901627e-18,-1.6047149645189234e-17,1.1333456437091878e-14],"object_angular_velocity_rad_s":[-1.9837099817716002e-15,-6.861015255302942e-16,-5.73272523022023e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313466751251774,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98282784851416,-1.5817448219914514,1.538253014570167,-1.553304401265917,-1.570778610965241,-0.41203595342344296,0.0],"actuator_force":[0.05013471946540449,-20.354127279993918,-19.69961216563297,-2.532367417242085,0.001555004966917295,1.7559716951609516e-05,-0.2922292834530634],"issued_joint_targets_rad":[-1.9828319676922486,-1.571159774048284,1.544274501304086,-1.544129769554638,-1.5707797459735322,-0.41203562639557123],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.479999999999631,"joint_targets_rad":[-1.9828319676922486,-1.571159774048284,1.544274501304086,-1.544129769554638,-1.5707797459735322,-0.41203562639557123],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.49999999999962,"qpos":[-1.9828243127081506,-1.5703256756982182,1.5848740453994952,-1.5853757193795501,-1.5707846702086279,-0.4120308801916676,0.002935594762731281,0.00015598225563519152,0.003195229555553112,-0.0034309001195222243,0.002935727544680725,0.00015652461356129854,0.003202483928243265,-0.0034390045590983963,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-7.411714888303051e-18,-5.082301872565342e-18,-1.5238376746461313e-07],"qvel":[-0.00014475316858674045,-0.005746821918407978,-0.2060814552240468,0.20744977101819928,1.553022146067505e-05,-2.3875623797705057e-05,-0.0001440285290525509,-4.205010096348447e-05,-9.985893906233266e-05,0.00026364433474923256,-0.00012332307361266246,4.883971555007221e-06,0.00012771266264976114,0.00027472175589213975,6.551571563492765e-18,-6.225679970843283e-18,1.1164147425836541e-14,-2.0999686095892626e-16,3.986844013749996e-16,-6.203807975944608e-09],"joint_position_rad":[-1.9828243127081506,-1.5703256756982182,1.5848740453994952,-1.5853757193795501,-1.5707846702086279,-0.4120308801916676],"joint_velocity_rad_s":[-0.00014475316858674045,-0.005746821918407978,-0.2060814552240468,0.20744977101819928,1.553022146067505e-05,-2.3875623797705057e-05],"linkage_position_rad":[0.002935594762731281,0.00015598225563519152,0.003195229555553112,-0.0034309001195222243,0.002935727544680725,0.00015652461356129854,0.003202483928243265,-0.0034390045590983963],"tcp_position_m":[0.07430878198804955,0.5046413050367493,0.3265002956091411],"tcp_quaternion_wxyz":[-1.1084608782169088e-05,0.7071057577428574,0.7071078044346029,1.2316869416372661e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-7.411714888303051e-18,-5.082301872565342e-18,-1.5238376746461313e-07],"object_linear_velocity_m_s":[6.551571563492765e-18,-6.225679970843283e-18,1.1164147425836541e-14],"object_angular_velocity_rad_s":[-2.0999673938979526e-16,3.9868446528324543e-16,-6.203807975944615e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313471783218302,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828275213089037,-1.58165417702549,1.5338083439321903,-1.5489506804667839,-1.5707784577264094,-0.41203562860847986,0.0],"actuator_force":[0.05148406592888932,-20.358273887180076,-19.698820844990678,-2.5324576454366934,0.0015532189631812798,1.3353973656649032e-05,-0.29222935735727423],"issued_joint_targets_rad":[-1.9828316565403397,-1.5710526888173388,1.5398126625793427,-1.539775850638798,-1.57077959522175,-0.4120353171312069],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.49999999999962,"joint_targets_rad":[-1.9828316565403397,-1.5710526888173388,1.5398126625793427,-1.539775850638798,-1.57077959522175,-0.4120353171312069],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.519999999999609,"qpos":[-1.982824099896102,-1.5703990126926979,1.5805950138776723,-1.5810442633282025,-1.5707841678969103,-0.41203130728385196,0.00293512305665301,0.00015598178538305134,0.0031947673747521796,-0.0034304505749578364,0.0029352561103384222,0.000156526354817505,0.003202030877954835,-0.0034385530926269395,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-1.5264993843629557e-17,-7.268108940095136e-18,-1.527934040397238e-07],"qvel":[-0.0001475950675587677,-0.004828115488628647,-0.20700085849835695,0.2075626720350156,1.3801202042517032e-05,-2.015641581785011e-05,-0.00013932448928409178,-4.207920414025326e-05,-9.423998214608812e-05,0.00025945624695302707,-0.00011858193485142768,5.016215814942639e-06,0.00013383603671461867,0.00027047352795410315,1.0525559627276448e-17,-1.6626217821111404e-17,1.1201617452917643e-14,-2.97987469787107e-17,-1.1455396653079936e-16,-2.493736140370306e-08],"joint_position_rad":[-1.982824099896102,-1.5703990126926979,1.5805950138776723,-1.5810442633282025,-1.5707841678969103,-0.41203130728385196],"joint_velocity_rad_s":[-0.0001475950675587677,-0.004828115488628647,-0.20700085849835695,0.2075626720350156,1.3801202042517032e-05,-2.015641581785011e-05],"linkage_position_rad":[0.00293512305665301,0.00015598178538305134,0.0031947673747521796,-0.0034304505749578364,0.0029352561103384222,0.000156526354817505,0.003202030877954835,-0.0034385530926269395],"tcp_position_m":[0.07430667028440342,0.5046370556452744,0.32820839713966643],"tcp_quaternion_wxyz":[-1.51324126376181e-05,0.70710553130008,0.7071080305678554,2.1961099453205496e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-1.5264993843629557e-17,-7.268108940095136e-18,-1.527934040397238e-07],"object_linear_velocity_m_s":[1.0525559627276448e-17,-1.6626217821111404e-17,1.1201617452917643e-14],"object_angular_velocity_rad_s":[-2.979878162239553e-17,-1.1455395818602757e-16,-2.4937361403703085e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313475871023684,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828272099129969,-1.5815460409717157,1.529345985710043,-1.5445967950899477,-1.5707783053140036,-0.4120353193177841,0.0],"actuator_force":[0.052817993233475136,-20.36281036258424,-19.69771293591566,-2.532533084374222,0.001551171249161598,9.624615699976857e-06,-0.292229426228894],"issued_joint_targets_rad":[-1.9828313603671779,-1.5709278822023363,1.5353328623465001,-1.5354216863796168,-1.5707794449930008,-0.4120350226361185],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.519999999999609,"joint_targets_rad":[-1.9828313603671779,-1.5709278822023363,1.5353328623465001,-1.5354216863796168,-1.5707794449930008,-0.4120350226361185],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.539999999999598,"qpos":[-1.9828238866425028,-1.5704534209503056,1.5762969905886315,-1.5767106323651876,-1.57078369910545,-0.4120316651409803,0.0029347363387822,0.00015598127509910682,0.003194389875984373,-0.0034300816673511884,0.002934869656386722,0.00015652803955137196,0.003201662319365351,-0.0034381823279011118,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-1.3614157444864352e-17,-2.7731871201516092e-18,-1.5299123595432346e-07],"qvel":[-0.00015047943338286103,-0.003915581325199108,-0.20791501983681643,0.2076658318727363,1.223900302497542e-05,-1.6861515169459067e-05,-0.0001354709859340223,-4.210830195381369e-05,-8.94606853109065e-05,0.00025607747099747004,-0.00011469093912124374,5.150231726139337e-06,0.00013912742656570752,0.00026703593302143333,-2.5117070533689128e-17,-4.866493987605479e-17,1.1205780789259988e-14,-1.8664107955957996e-15,2.2647492393390128e-15,-1.0024036788215838e-07],"joint_position_rad":[-1.9828238866425028,-1.5704534209503056,1.5762969905886315,-1.5767106323651876,-1.57078369910545,-0.4120316651409803],"joint_velocity_rad_s":[-0.00015047943338286103,-0.003915581325199108,-0.20791501983681643,0.2076658318727363,1.223900302497542e-05,-1.6861515169459067e-05],"linkage_position_rad":[0.0029347363387822,0.00015598127509910682,0.003194389875984373,-0.0034300816673511884,0.002934869656386722,0.00015652803955137196,0.003201662319365351,-0.0034381823279011118],"tcp_position_m":[0.07430459797627238,0.504632875521134,0.3299163830053622],"tcp_quaternion_wxyz":[-1.8779451560157167e-05,0.707105329130412,0.7071082323269992,3.062825250341733e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-1.3614157444864352e-17,-2.7731871201516092e-18,-1.5299123595432346e-07],"object_linear_velocity_m_s":[-2.5117070533689128e-17,-4.866493987605479e-17,1.1205780789259988e-14],"object_angular_velocity_rad_s":[-1.8664101020661737e-15,2.264749807698522e-15,-1.0024036788215849e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313479184928301,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828269135382934,-1.581420406073606,1.5248658439579081,-1.540242657003349,-1.570778153536307,-0.4120350247989967,0.0],"actuator_force":[0.05413798177141871,-20.367737716520878,-19.696285326720044,-2.532595506354369,0.0015488842690274396,6.322508738776378e-06,-0.29222949013316973],"issued_joint_targets_rad":[-1.9828310784561147,-1.5707853473022204,1.530835002541373,-1.5310671871151154,-1.570779295123176,-0.4120347422137161],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.539999999999598,"joint_targets_rad":[-1.9828310784561147,-1.5707853473022204,1.530835002541373,-1.5310671871151154,-1.570779295123176,-0.4120347422137161],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.559999999999587,"qpos":[-1.9828236737231637,-1.5704890169373502,1.5719800659744039,-1.5723750039233584,-1.5707832606569767,-0.4120319617517694,0.002934419270654259,0.00015598073194890053,0.0031940817896928646,-0.00342977883714444,0.0029345528452489997,0.00015652967787988006,0.0032013630062196785,-0.0034378776989615043,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-1.4747739858749453e-17,5.37940386886311e-18,-1.533713170174882e-07],"qvel":[-0.0001534021050681933,-0.0030085888032569314,-0.2088248896947491,0.20776059871434077,1.0828408179176243e-05,-1.3947052407724453e-05,-0.00013231463316644174,-4.213747491461061e-05,-8.536825727201356e-05,0.00025336243518338415,-0.00011149669994159918,5.285947992825888e-06,0.0001437395645645364,0.00026426333756025583,-6.370979874729326e-18,-2.1089511044214157e-17,1.1141942965344044e-14,7.157197106857992e-16,1.6065202155743084e-16,-1.0847755104339684e-08],"joint_position_rad":[-1.9828236737231637,-1.5704890169373502,1.5719800659744039,-1.5723750039233584,-1.5707832606569767,-0.4120319617517694],"joint_velocity_rad_s":[-0.0001534021050681933,-0.0030085888032569314,-0.2088248896947491,0.20776059871434077,1.0828408179176243e-05,-1.3947052407724453e-05],"linkage_position_rad":[0.002934419270654259,0.00015598073194890053,0.0031940817896928646,-0.00342977883714444,0.0029345528452489997,0.00015652967787988006,0.0032013630062196785,-0.0034378776989615043],"tcp_position_m":[0.07430256550741968,0.5046287667558773,0.3316242527387584],"tcp_quaternion_wxyz":[-2.2064311578042695e-05,0.7071051487019713,0.7071084122797655,3.84124686030009e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-1.4747739858749453e-17,5.37940386886311e-18,-1.533713170174882e-07],"object_linear_velocity_m_s":[-6.370979874729326e-18,-2.1089511044214157e-17,1.1141942965344044e-14],"object_angular_velocity_rad_s":[7.157197598478817e-16,1.606518016957145e-16,-1.0847755104339699e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313481864449083,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982826631455193,-1.5812772631705012,1.520367820443001,-1.5358881772148136,-1.5707780022186373,-0.4120347443552794,0.0],"actuator_force":[0.05544537796868099,-20.373056944999007,-19.69453518490627,-2.532646517161652,0.0015463783516906915,3.403485777653259e-06,-0.29222954912962273],"issued_joint_targets_rad":[-1.9828308101418277,-1.5706250755587015,1.5263189827338473,-1.5267122623475209,-1.5707791454623394,-0.4120344752169724],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.559999999999587,"joint_targets_rad":[-1.9828308101418277,-1.5706250755587015,1.5263189827338473,-1.5267122623475209,-1.5707791454623394,-0.4120344752169724],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.579999999999576,"qpos":[-1.9828234611907314,-1.5705059068055416,1.567644386020635,-1.568037529628509,-1.5707828496416485,-0.41203220427727366,0.002934159311895614,0.00015598027333422505,0.003193829992860064,-0.0034295309099370373,0.002934293103537159,0.00015653131868002398,0.003201119767514648,-0.0034376277229251117,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-8.326173832526825e-18,6.010883527740371e-17,-1.53722746139948e-07],"qvel":[-0.00015640011987032407,-0.0021061217982910794,-0.20973147946815296,0.20784834645003591,9.566957846233786e-06,-1.1373665805181432e-05,-0.0001297102756927399,-4.2166855378814074e-05,-8.177915792399134e-05,0.0002511498611695748,-0.00010885100148394192,5.435844604623304e-06,0.00014790645105902596,0.0002620091902350378,-1.186775677816497e-16,-9.99663715860032e-19,1.14666832000469e-14,6.949174251064191e-16,6.743877178349586e-15,-4.360457166061511e-08],"joint_position_rad":[-1.9828234611907314,-1.5705059068055416,1.567644386020635,-1.568037529628509,-1.5707828496416485,-0.41203220427727366],"joint_velocity_rad_s":[-0.00015640011987032407,-0.0021061217982910794,-0.20973147946815296,0.20784834645003591,9.566957846233786e-06,-1.1373665805181432e-05],"linkage_position_rad":[0.002934159311895614,0.00015598027333422505,0.003193829992860064,-0.0034295309099370373,0.002934293103537159,0.00015653131868002398,0.003201119767514648,-0.0034376277229251117],"tcp_position_m":[0.07430056539876248,0.5046247140307109,0.33333197042849183],"tcp_quaternion_wxyz":[-2.500873629159761e-05,0.7071049875170301,0.7071085729540381,4.5365261730333936e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-8.326173832526825e-18,6.010883527740371e-17,-1.53722746139948e-07],"object_linear_velocity_m_s":[-1.186775677816497e-16,-9.99663715860032e-19,1.14666832000469e-14],"object_angular_velocity_rad_s":[6.949194932389861e-16,6.7438769639739294e-15,-4.360457166061517e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313484038372309,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982826363002874,-1.5811166015125757,1.515851814637185,-1.5315332656158376,-1.5707778512014139,-0.4120344773394631,0.0],"actuator_force":[0.05675642366304601,-20.37894069475169,-19.69255097963878,-2.5327026386678426,0.001542524332649009,8.354857925496617e-07,-0.29222981438575524],"issued_joint_targets_rad":[-1.98283055423373,-1.5704470967497866,1.5217848302535126,-1.5223569104533186,-1.5707789959085454,-0.4120342204727998],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.579999999999576,"joint_targets_rad":[-1.98283055423373,-1.5704470967497866,1.5217848302535126,-1.5223569104533186,-1.5707789959085454,-0.4120342204727998],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.599999999999564,"qpos":[-1.9828232502970655,-1.570504184964978,1.5632900205264788,-1.5636983450538922,-1.5707824634522014,-0.4120323990815655,0.0029339462167825526,0.00015597981804587205,0.003193624778933032,-0.0034293276167933332,0.0029340802201145446,0.00015653295407561297,0.003200923024602063,-0.003437422386935011,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-2.5247592330834215e-18,6.613603847507696e-17,-1.5388808144652928e-07],"qvel":[-0.00015943937864256372,-0.0012081918191232076,-0.2106351913167269,0.20792964047671295,8.430577041945094e-06,-9.103205935981652e-06,-0.00012757171873196627,-4.2198557433429194e-05,-7.863393717116586e-05,0.00024939630270462594,-0.0001066706153135404,5.585948171922844e-06,0.00015163563132073027,0.0002602107333043967,-7.291457858178252e-17,-3.8225834390295904e-18,1.2352086062185461e-14,4.1207329364868547e-16,-2.3620971873942626e-15,-4.718774729159338e-09],"joint_position_rad":[-1.9828232502970655,-1.570504184964978,1.5632900205264788,-1.5636983450538922,-1.5707824634522014,-0.4120323990815655],"joint_velocity_rad_s":[-0.00015943937864256372,-0.0012081918191232076,-0.2106351913167269,0.20792964047671295,8.430577041945094e-06,-9.103205935981652e-06],"linkage_position_rad":[0.0029339462167825526,0.00015597981804587205,0.003193624778933032,-0.0034293276167933332,0.0029340802201145446,0.00015653295407561297,0.003200923024602063,-0.003437422386935011],"tcp_position_m":[0.07429859789424995,0.5046207180308897,0.33503952981476404],"tcp_quaternion_wxyz":[-2.7643153826351223e-05,0.7071048437794172,0.7071087161681946,5.156073030303096e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-2.5247592330834215e-18,6.613603847507696e-17,-1.5388808144652928e-07],"object_linear_velocity_m_s":[-7.291457858178252e-17,-3.8225834390295904e-18,1.2352086062185461e-14],"object_angular_velocity_rad_s":[4.1207256602729573e-16,-2.362097314244319e-15,-4.718774729159345e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313485788278253,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828261069704567,-1.5809384490893288,1.5113178537400127,-1.527177921092799,-1.5707777003739756,-0.41203422257826877,0.0],"actuator_force":[0.05806240467427415,-20.385251521052396,-19.69025704624164,-2.5327520671246475,0.0015384814087155974,-1.4277580362431763e-06,-0.2922301101746273],"issued_joint_targets_rad":[-1.9828303106827385,-1.570251403463575,1.5172324590268247,-1.518001053888939,-1.5707788463393428,-0.41203397794586316],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.599999999999564,"joint_targets_rad":[-1.9828303106827385,-1.570251403463575,1.5172324590268247,-1.518001053888939,-1.5707788463393428,-0.41203397794586316],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.619999999999553,"qpos":[-1.9828230416961081,-1.570483938052468,1.5589170157990067,-1.559357566628043,-1.5707820997152764,-0.4120325519101384,0.00293377153867606,0.00015597934560756987,0.0031934578635862236,-0.0034291607669671258,0.002933905749565493,0.00015653456710241624,0.0032007644737868032,-0.0034372535418340554,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-3.851981134450542e-18,4.524401339260436e-17,-1.5434700297952328e-07],"qvel":[-0.000162507584485256,-0.0003143951251427366,-0.21153673163228706,0.2080054357352189,7.407560359067891e-06,-7.106473514295843e-06,-0.00012581771881451422,-4.223077687777103e-05,-7.586140267925963e-05,0.00024801247533172194,-0.0001048744759583354,5.737164068842795e-06,0.0001549981151113753,0.000258782585706399,-5.572137048097934e-17,-8.432221332310868e-18,1.1219658577067802e-14,-1.0028109019430273e-16,-2.3336833827476833e-15,-1.8967993732080722e-08],"joint_position_rad":[-1.9828230416961081,-1.570483938052468,1.5589170157990067,-1.559357566628043,-1.5707820997152764,-0.4120325519101384],"joint_velocity_rad_s":[-0.000162507584485256,-0.0003143951251427366,-0.21153673163228706,0.2080054357352189,7.407560359067891e-06,-7.106473514295843e-06],"linkage_position_rad":[0.00293377153867606,0.00015597934560756987,0.0031934578635862236,-0.0034291607669671258,0.002933905749565493,0.00015653456710241624,0.0032007644737868032,-0.0034372535418340554],"tcp_position_m":[0.07429666392278152,0.5046167815943464,0.3367469300135527],"tcp_quaternion_wxyz":[-2.9997258431322543e-05,0.7071047156971969,0.7071088437304421,5.7071420519452196e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-3.851981134450542e-18,4.524401339260436e-17,-1.5434700297952328e-07],"object_linear_velocity_m_s":[-5.572137048097934e-17,-8.432221332310868e-18,1.1219658577067802e-14],"object_angular_velocity_rad_s":[-1.002818123047465e-16,-2.333683351937533e-15,-1.8967993732080752e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487188222298,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828258632957365,-1.5807427968244292,1.5067658515502178,-1.5228220666112045,-1.5707775496059724,-0.4120339800361712,0.0],"actuator_force":[0.05935983453719018,-20.39195949386567,-19.68763584466251,-2.5327935651025655,0.0015342986160931105,-3.415664991734957e-06,-0.2922304034382134],"issued_joint_targets_rad":[-1.982830079041172,-1.570037981963749,1.5126617621168494,-1.513644600555647,-1.570778696635256,-0.41203374720204927],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.619999999999553,"joint_targets_rad":[-1.982830079041172,-1.570037981963749,1.5126617621168494,-1.513644600555647,-1.570778696635256,-0.41203374720204927],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.639999999999542,"qpos":[-1.982822835854227,-1.5704452434799374,1.554525403677348,-1.5550152910628976,-1.5707817562674176,-0.4120326679180742,0.0029336283443377577,0.0001559788581070454,0.0031933223575840762,-0.0034290237710461477,0.0029337627583457407,0.00015653615980952275,0.003200637230780201,-0.0034371145915913634,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-3.1036400099180484e-18,2.8244686587881487e-17,-1.5459559610955768e-07],"qvel":[-0.00016560118634681626,0.0005757295691224936,-0.2124368019150236,0.20807668432037563,6.487829248799567e-06,-5.355239568503613e-06,-0.00012437910680161482,-4.226331533904899e-05,-7.339410517351545e-05,0.00024693046022316884,-0.00010339330142987315,5.890008622665817e-06,0.0001580631005839158,0.0002576571761985753,-5.400737755534066e-17,-9.761312625375267e-18,1.1012879538731364e-14,-1.8148391566764247e-16,-6.773489150471185e-17,-7.624538293803626e-08],"joint_position_rad":[-1.982822835854227,-1.5704452434799374,1.554525403677348,-1.5550152910628976,-1.5707817562674176,-0.4120326679180742],"joint_velocity_rad_s":[-0.00016560118634681626,0.0005757295691224936,-0.2124368019150236,0.20807668432037563,6.487829248799567e-06,-5.355239568503613e-06],"linkage_position_rad":[0.0029336283443377577,0.0001559788581070454,0.0031933223575840762,-0.0034290237710461477,0.0029337627583457407,0.00015653615980952275,0.003200637230780201,-0.0034371145915913634],"tcp_position_m":[0.07429476438766149,0.5046129075969129,0.3384541703083429],"tcp_quaternion_wxyz":[-3.2098006866580326e-05,0.7071046016185808,0.7071089573043957,6.196317872585042e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-3.1036400099180484e-18,2.8244686587881487e-17,-1.5459559610955768e-07],"object_linear_velocity_m_s":[-5.400737755534066e-17,-9.761312625375267e-18,1.1012879538731364e-14],"object_angular_velocity_rad_s":[-1.8148394091771993e-16,-6.773483586475625e-17,-7.62453829380364e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348830103758,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828256315211124,-1.5805296294816107,1.502195701019363,-1.5184656105367322,-1.570777398770732,-0.4120337492788837,0.0],"actuator_force":[0.06064914076750938,-20.3990638309956,-19.684684549960366,-2.5328281689547794,0.001529965417830681,-5.15644791221348e-06,-0.29223069309301747],"issued_joint_targets_rad":[-1.9828298587880355,-1.5698068168989059,1.508072629621111,-1.5092874569211014,-1.5707785466854822,-0.4120335277329442],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.639999999999542,"joint_targets_rad":[-1.9828298587880355,-1.5698068168989059,1.508072629621111,-1.5092874569211014,-1.5707785466854822,-0.4120335277329442],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.659999999999531,"qpos":[-1.9828226331753092,-1.5703881697156943,1.5501152024743639,-1.5506715968682625,-1.5707814311409494,-0.4120327517179356,0.002933510950743143,0.0001559783579330513,0.0031932126048186175,-0.003428911235454972,0.0029336455639717347,0.00015653773646473498,0.003200535653747075,-0.0034370001380944377,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-2.7183449252030578e-18,1.9530233847538834e-17,-1.5488469546963343e-07],"qvel":[-0.000168717669433101,0.0014626104334047438,-0.2133360485287201,0.20814425457547867,5.662021540395139e-06,-3.823638169774435e-06,-0.00012319906756068195,-4.229621763177493e-05,-7.117554045118189e-05,0.00024609641018143776,-0.00010217026380137948,6.044485612933557e-06,0.00016088724823992218,0.00025678056367644,-2.6265637592293024e-17,-2.7207993137359642e-18,1.0879652775776345e-14,-6.943312233390464e-17,-9.108079974903545e-16,-8.251079474495899e-09],"joint_position_rad":[-1.9828226331753092,-1.5703881697156943,1.5501152024743639,-1.5506715968682625,-1.5707814311409494,-0.4120327517179356],"joint_velocity_rad_s":[-0.000168717669433101,0.0014626104334047438,-0.2133360485287201,0.20814425457547867,5.662021540395139e-06,-3.823638169774435e-06],"linkage_position_rad":[0.002933510950743143,0.0001559783579330513,0.0031932126048186175,-0.003428911235454972,0.0029336455639717347,0.00015653773646473498,0.003200535653747075,-0.0034370001380944377],"tcp_position_m":[0.07429290025033464,0.5046090989992047,0.3401612499785418],"tcp_quaternion_wxyz":[-3.396978077376973e-05,0.7071045000597229,0.7071090583822579,6.629554643600854e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-2.7183449252030578e-18,1.9530233847538834e-17,-1.5488469546963343e-07],"object_linear_velocity_m_s":[-2.6265637592293024e-17,-2.7207993137359642e-18,1.0879652775776345e-14],"object_angular_velocity_rad_s":[-6.943340479663111e-17,-9.10807976026915e-16,-8.251079474495913e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313489178347786,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828254111165753,-1.5802989303781891,1.497607292150854,-1.5141084597561594,-1.5707772477509059,-0.41203352979783536,0.0],"actuator_force":[0.06193118524106467,-20.406565498351938,-19.68140123553121,-2.5328569014963023,0.0015254928676995405,-6.6761328980646795e-06,-0.2922309790789336],"issued_joint_targets_rad":[-1.9828296494262991,-1.5695578911784764,1.5034649489327678,-1.5049295284097703,-1.5707783963873243,-0.41203331905294566],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.659999999999531,"joint_targets_rad":[-1.9828296494262991,-1.5695578911784764,1.5034649489327678,-1.5049295284097703,-1.5707783963873243,-0.41203331905294566],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.67999999999952,"qpos":[-1.9828224340111011,-1.5703127769603227,1.545686418017986,-1.5463265459851383,-1.5707811225468253,-0.412032807433495,0.002933414700289493,0.00015597784692959342,0.0031931239688040474,-0.0034288187396140707,0.002933549509356651,0.0001565393007405405,0.00320045511992268,-0.0034369057567128105,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-1.457306483013438e-17,1.504250434269378e-17,-1.5529976960568957e-07],"qvel":[-0.00017185478524453857,0.002346642523741197,-0.21423506837042927,0.2082089365422998,4.92162637585984e-06,-2.4883874012635968e-06,-0.00012223102521387075,-4.232951212732681e-05,-6.915922929815644e-05,0.00024546615075141765,-0.00010115878362523122,6.200590914827101e-06,0.00016351707423280872,0.0002561085417243359,-2.0728090549459473e-17,-2.1204262825634856e-17,1.0828304960887433e-14,-8.1747721839212835e-16,-5.584908235608388e-16,-3.3166750425551114e-08],"joint_position_rad":[-1.9828224340111011,-1.5703127769603227,1.545686418017986,-1.5463265459851383,-1.5707811225468253,-0.412032807433495],"joint_velocity_rad_s":[-0.00017185478524453857,0.002346642523741197,-0.21423506837042927,0.2082089365422998,4.92162637585984e-06,-2.4883874012635968e-06],"linkage_position_rad":[0.002933414700289493,0.00015597784692959342,0.0031931239688040474,-0.0034288187396140707,0.002933549509356651,0.0001565393007405405,0.00320045511992268,-0.0034369057567128105],"tcp_position_m":[0.07429107253226817,0.504605358849168,0.34186816828361466],"tcp_quaternion_wxyz":[-3.563462592069257e-05,0.7071044096897761,0.707109148300531,7.012234745454185e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-1.457306483013438e-17,1.504250434269378e-17,-1.5529976960568957e-07],"object_linear_velocity_m_s":[-2.0728090549459473e-17,-2.1204262825634856e-17,1.0828304960887433e-14],"object_angular_velocity_rad_s":[-8.174773928569051e-16,-5.584905706194479e-16,-3.316675042555118e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313489862458159,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828252015767232,-1.5800506812480333,1.4930005122608379,-1.5097505200717423,-1.5707770964378454,-0.412033321107282,0.0],"actuator_force":[0.06320678285374015,-20.414465584917707,-19.677784166124184,-2.5328806975319367,0.0015208918524649562,-7.99815336449683e-06,-0.29223126143811173],"issued_joint_targets_rad":[-1.9828294504843589,-1.5692911859514254,1.4988386047123512,-1.5005707194037858,-1.5707782456452972,-0.41203312070081494],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.67999999999952,"joint_targets_rad":[-1.9828294504843589,-1.5692911859514254,1.4988386047123512,-1.5005707194037858,-1.5707782456452972,-0.41203312070081494],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.699999999999509,"qpos":[-1.982822238665591,-1.5702191177763267,1.5412390445858744,-1.541980185272814,-1.570780828858251,-0.4120328387489155,0.002933335775835245,0.00015597732655571597,0.0031930526497147066,-0.003428742660770934,0.002933470777823726,0.0001565408557791484,0.003200391842037788,-0.0034368278209255332,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-1.2236206891852663e-17,9.37575340493722e-18,-1.5542552786086958e-07],"qvel":[-0.00017501048741594785,0.0032281908458863936,-0.21513441384655563,0.20827144940182257,4.258915686959236e-06,-1.3285488716377317e-06,-0.00012143680781460454,-4.236322403098569e-05,-6.730704343564606e-05,0.00024500348703102265,-0.00010032068470283053,6.3583254049832265e-06,0.000165990747015419,0.0002556048814256778,-1.3328060115886778e-17,-1.527020234053204e-17,1.0756140464286797e-14,6.05889381015336e-16,-6.003653036228902e-16,-3.589220528860211e-09],"joint_position_rad":[-1.982822238665591,-1.5702191177763267,1.5412390445858744,-1.541980185272814,-1.570780828858251,-0.4120328387489155],"joint_velocity_rad_s":[-0.00017501048741594785,0.0032281908458863936,-0.21513441384655563,0.20827144940182257,4.258915686959236e-06,-1.3285488716377317e-06],"linkage_position_rad":[0.002933335775835245,0.00015597732655571597,0.0031930526497147066,-0.003428742660770934,0.002933470777823726,0.0001565408557791484,0.003200391842037788,-0.0034368278209255332],"tcp_position_m":[0.07428928231429001,0.5046016902856407,0.34357492446110116],"tcp_quaternion_wxyz":[-3.711247543212825e-05,0.7071043293153704,0.7071092282561552,7.349223520314427e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-1.2236206891852663e-17,9.37575340493722e-18,-1.5542552786086958e-07],"object_linear_velocity_m_s":[-1.3328060115886778e-17,-1.527020234053204e-17,1.0756140464286797e-14],"object_angular_velocity_rad_s":[6.058891943238161e-16,-6.00365492052053e-16,-3.589220528860218e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490388028842,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828250024221432,-1.5797848622075243,1.4883752459496098,-1.5053916962060088,-1.5707769447306545,-0.41203312274585685,0.0],"actuator_force":[0.06447668186183364,-20.422765200749836,-19.67383173390681,-2.5329004067796177,0.0015161722294578794,-9.143583525883514e-06,-0.2922315402203614],"issued_joint_targets_rad":[-1.9828292615128877,-1.569006680579787,1.4941934788214317,-1.4962109332103768,-1.5707780943703038,-0.4120329322366199],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.699999999999509,"joint_targets_rad":[-1.9828292615128877,-1.569006680579787,1.4941934788214317,-1.4962109332103768,-1.5707780943703038,-0.4120329322366199],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.719999999999498,"qpos":[-1.9828220473986107,-1.5701072376557241,1.5367730657443062,-1.537632547851097,-1.5707805485957513,-0.41203284895294584,0.002933271049040492,0.0001559767979494144,0.0031929955334816774,-0.0034286800299822805,0.0029334062414542762,0.0001565424042725838,0.003200342717486073,-0.003436763358328832,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999889,-1.035774696859237e-17,4.999803363775037e-18,-1.558729965518669e-07],"qvel":[-0.00017818291018593217,0.004107593376026595,-0.21603459744683887,0.20833244840959708,3.666873648335894e-06,-3.252890475508435e-07,-0.00012078513174856636,-4.239737570851505e-05,-6.558770785808987e-05,0.00024467876484046306,-9.962467877308813e-05,6.517694533614207e-06,0.0001683395914598667,0.0002552398964985025,-6.035912449339767e-18,-1.2505092961505893e-17,1.079222271258712e-14,2.5048294225422195e-16,-1.8747935452016508e-16,-1.4427540283782703e-08],"joint_position_rad":[-1.9828220473986107,-1.5701072376557241,1.5367730657443062,-1.537632547851097,-1.5707805485957513,-0.41203284895294584],"joint_velocity_rad_s":[-0.00017818291018593217,0.004107593376026595,-0.21603459744683887,0.20833244840959708,3.666873648335894e-06,-3.252890475508435e-07],"linkage_position_rad":[0.002933271049040492,0.0001559767979494144,0.0031929955334816774,-0.0034286800299822805,0.0029334062414542762,0.0001565424042725838,0.003200342717486073,-0.003436763358328832],"tcp_position_m":[0.07428753073610134,0.5045980965423428,0.34528151772563154],"tcp_quaternion_wxyz":[-3.842135207135707e-05,0.7071042578665091,0.7071092993210978,7.644918856370428e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999889,-1.035774696859237e-17,4.999803363775037e-18,-1.558729965518669e-07],"object_linear_velocity_m_s":[-6.035912449339767e-18,-1.2505092961505893e-17,1.079222271258712e-14],"object_angular_velocity_rad_s":[2.5048288366400297e-16,-1.8747943290608355e-16,-1.4427540283782731e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490783454276,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828248131962027,-1.5795014517175554,1.4837313750349872,-1.5010318917727679,-1.5707767925353162,-0.41203293427351184,0.0],"actuator_force":[0.06574156889018923,-20.431465474073775,-19.66954243990267,-2.5329168017951815,0.001511342852722919,-1.0131378246569511e-05,-0.2922318154721302],"issued_joint_targets_rad":[-1.9828290820815968,-1.5687043526081847,1.4895294502516414,-1.4918500720280143,-1.570777942478889,-0.41203275323858407],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.719999999999498,"joint_targets_rad":[-1.9828290820815968,-1.5687043526081847,1.4895294502516414,-1.4918500720280143,-1.570777942478889,-0.41203275323858407],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.739999999999487,"qpos":[-1.9828218604290448,-1.5699771755298344,1.5322884550999774,-1.533283654310756,-1.5707802804135977,-0.41203284097857823,0.0029332179560712887,0.00015597626198842645,0.0031929500680584143,-0.003428628414119255,0.00293335333679616,0.00015654394853590285,0.0032003052046918113,-0.00343670993261742,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,-1.912153553794363e-17,1.3278038226421197e-17,-1.5621027891986266e-07],"qvel":[-0.00018137035101034723,0.004985163822044227,-0.21693609589546786,0.20839253117577808,3.139131928951403e-06,5.383369688255809e-07,-0.000120250358783983,-4.24319871916385e-05,-6.397556425112074e-05,0.00024446768948828727,-9.904512259985058e-05,6.678707909376957e-06,0.00017058932554179693,0.0002549892638728135,-3.6059892426516795e-17,-4.2588958530712725e-17,1.1225209692190933e-14,-2.052864080978478e-15,1.5512629466169676e-15,-5.799418480041843e-08],"joint_position_rad":[-1.9828218604290448,-1.5699771755298344,1.5322884550999774,-1.533283654310756,-1.5707802804135977,-0.41203284097857823],"joint_velocity_rad_s":[-0.00018137035101034723,0.004985163822044227,-0.21693609589546786,0.20839253117577808,3.139131928951403e-06,5.383369688255809e-07],"linkage_position_rad":[0.0029332179560712887,0.00015597626198842645,0.0031929500680584143,-0.003428628414119255,0.00293335333679616,0.00015654394853590285,0.0032003052046918113,-0.00343670993261742],"tcp_position_m":[0.07428581899616836,0.5045945809523569,0.34698794726816196],"tcp_quaternion_wxyz":[-3.957755119097286e-05,0.707104194383886,0.7071093624554292,7.903296025489743e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,-1.912153553794363e-17,1.3278038226421197e-17,-1.5621027891986266e-07],"object_linear_velocity_m_s":[-3.6059892426516795e-17,-4.2588958530712725e-17,1.1225209692190933e-14],"object_angular_velocity_rad_s":[-2.0528635978720407e-15,1.5512635857559575e-15,-5.799418480041843e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931349107199448,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828246334617534,-1.5792004265426705,1.4790687784810828,-1.496671009246489,-1.5707766397639005,-0.41203275526836586,0.0],"actuator_force":[0.06700207498715827,-20.440567554489917,-19.664914879602293,-2.5329305854442055,0.0015064116556686713,-1.097859069432161e-05,-0.2922320872364533],"issued_joint_targets_rad":[-1.9828289117761986,-1.5683841777291954,1.4848463950504496,-1.4874880369128398,-1.5707777898925714,-0.41203258330012793],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.739999999999487,"joint_targets_rad":[-1.9828289117761986,-1.5683841777291954,1.4848463950504496,-1.4874880369128398,-1.5707777898925714,-0.41203258330012793],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.759999999999476,"qpos":[-1.9828216779376993,-1.56982896422638,1.5277851769727622,-1.5289335138047766,-1.5707800230874696,-0.41203281743861997,0.0029331743957331452,0.00015597571934056052,0.003192914162010298,-0.003428585819167991,0.0029333099630009596,0.0001565454905687807,0.003200277221796186,-0.003436665546857299,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,-2.0437206175792104e-17,1.4984707134296095e-17,-1.5643017527381688e-07],"qvel":[-0.00018457125475666606,0.005861194137687453,-0.21783935391923887,0.2084522433423774,2.669910771132899e-06,1.2775800583641225e-06,-0.00011981147741940225,-4.246707664435034e-05,-6.244955648479796e-05,0.000244350359179272,-9.856099933096518e-05,6.84137870299522e-06,0.00017276107406503574,0.0002548330555510611,-1.7108573582396532e-17,-2.3553859189711633e-17,1.1658196671794743e-14,8.422117325785986e-16,-4.120269912303073e-16,-6.275981697616456e-09],"joint_position_rad":[-1.9828216779376993,-1.56982896422638,1.5277851769727622,-1.5289335138047766,-1.5707800230874696,-0.41203281743861997],"joint_velocity_rad_s":[-0.00018457125475666606,0.005861194137687453,-0.21783935391923887,0.2084522433423774,2.669910771132899e-06,1.2775800583641225e-06],"linkage_position_rad":[0.0029331743957331452,0.00015597571934056052,0.003192914162010298,-0.003428585819167991,0.0029333099630009596,0.0001565454905687807,0.003200277221796186,-0.003436665546857299],"tcp_position_m":[0.0742841483519965,0.5045911469531043,0.34869421225534303],"tcp_quaternion_wxyz":[-4.059580617451485e-05,0.707104138007477,0.7071094185190356,8.127948221237164e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,-2.0437206175792104e-17,1.4984707134296095e-17,-1.5643017527381688e-07],"object_linear_velocity_m_s":[-1.7108573582396532e-17,-2.3553859189711633e-17,1.1658196671794743e-14],"object_angular_velocity_rad_s":[8.42211603483561e-16,-4.1202725498147204e-16,-6.275981697616456e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491272702082,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828244627980443,-1.578881761707105,1.4743873323238708,-1.492308949931648,-1.5707764863338547,-0.412032585323745,0.0],"actuator_force":[0.06825878121253481,-20.45007261652472,-19.65994773008697,-2.5329423976734233,0.0015013857303074474,-1.1700568336436845e-05,-0.2922323555529534],"issued_joint_targets_rad":[-1.9828287501955526,-1.568046129744473,1.4801441862434712,-1.4831247277453254,-1.570777636537244,-0.412032422027092],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.759999999999476,"joint_targets_rad":[-1.9828287501955526,-1.568046129744473,1.4801441862434712,-1.4831247277453254,-1.570777636537244,-0.412032422027092],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.779999999999465,"qpos":[-1.9828215000698555,-1.5696626308785908,1.5232631869966653,-1.524582125031879,-1.5707797755032404,-0.4120327806575878,0.0029331386459865616,0.00015597517050453108,0.0031928861014021426,-0.0034285506109881284,0.002933274398342904,0.00015654703210698224,0.003200257063632284,-0.0034366285642203373,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,-3.55840060038302e-17,2.79274620586197e-17,-1.5684457746969997e-07],"qvel":[-0.0001877841991275595,0.006735956813118837,-0.2187447876707995,0.20851208371554072,2.253965391989022e-06,1.9061722092769552e-06,-0.00011945126799835539,-4.250266071837445e-05,-6.099239954126771e-05,0.00024431047198269324,-9.815508362724823e-05,7.00572324478114e-06,0.00017487219968134003,0.0002547549465774239,-3.838386878639829e-17,-4.998322588851147e-17,1.1751177850107099e-14,-3.995952019126928e-17,2.891718745800036e-16,-2.5227477117817642e-08],"joint_position_rad":[-1.9828215000698555,-1.5696626308785908,1.5232631869966653,-1.524582125031879,-1.5707797755032404,-0.4120327806575878],"joint_velocity_rad_s":[-0.0001877841991275595,0.006735956813118837,-0.2187447876707995,0.20851208371554072,2.253965391989022e-06,1.9061722092769552e-06],"linkage_position_rad":[0.0029331386459865616,0.00015597517050453108,0.0031928861014021426,-0.0034285506109881284,0.002933274398342904,0.00015654703210698224,0.003200257063632284,-0.0034366285642203373],"tcp_position_m":[0.07428252012077727,0.5045877980918496,0.35040031182898645],"tcp_quaternion_wxyz":[-4.148943804663248e-05,0.7071040879662944,0.7071094682821089,8.322123210531441e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,-3.55840060038302e-17,2.79274620586197e-17,-1.5684457746969997e-07],"object_linear_velocity_m_s":[-3.838386878639829e-17,-4.998322588851147e-17,1.1751177850107099e-14],"object_angular_velocity_rad_s":[-3.9959430890265453e-17,2.8917188531946833e-16,-2.522747711781765e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931349140118213,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828243007978228,-1.5785454304475472,1.4696869095933256,-1.4879456139320253,-1.5707763321673684,-0.41203242404540447,0.0],"actuator_force":[0.0695122237166288,-20.459981863160465,-19.654639738359492,-2.532952821627191,0.0014962713967179297,-1.2311129268027798e-05,-0.2922326204583453],"issued_joint_targets_rad":[-1.9828285969489823,-1.567690180521509,1.4754226937529689,-1.4787600431969805,-1.5707774823426255,-0.4120322690351214],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.779999999999465,"joint_targets_rad":[-1.9828285969489823,-1.567690180521509,1.4754226937529689,-1.4787600431969805,-1.5707774823426255,-0.4120322690351214],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.799999999999454,"qpos":[-1.9828213269375345,-1.5694781972905367,1.518722432655499,-1.5202294771226184,-1.570779536646788,-0.41203273270029434,0.002933109295527574,0.00015597461584346465,0.0031928644816853853,-0.0034285214503599172,0.002933245231802438,0.00015654857466490917,0.0032002433336899656,-0.0034365976430144884,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,-2.5812402509073592e-17,2.2952250795496425e-17,-1.5704471091677734e-07],"qvel":[-0.00019100788126112853,0.0076097069640325395,-0.21965278784168032,0.20857250890587592,1.8865373019106724e-06,2.436484118057918e-06,-0.00011915561855138898,-4.25387549798841e-05,-5.958989759069616e-05,0.0002443346779830595,-9.781325750997602e-05,7.171760575595432e-06,0.00017693698341121424,0.0002547415647420582,-4.2527584706525724e-17,-4.680702788277465e-17,1.1795586771092104e-14,1.2450631469172775e-16,4.3641911062283484e-16,-1.0140654201903006e-07],"joint_position_rad":[-1.9828213269375345,-1.5694781972905367,1.518722432655499,-1.5202294771226184,-1.570779536646788,-0.41203273270029434],"joint_velocity_rad_s":[-0.00019100788126112853,0.0076097069640325395,-0.21965278784168032,0.20857250890587592,1.8865373019106724e-06,2.436484118057918e-06],"linkage_position_rad":[0.002933109295527574,0.00015597461584346465,0.0031928644816853853,-0.0034285214503599172,0.002933245231802438,0.00015654857466490917,0.0032002433336899656,-0.0034365976430144884],"tcp_position_m":[0.07428093568040789,0.5045845380317587,0.3521062451055962],"tcp_quaternion_wxyz":[-4.2270490758119005e-05,0.7071040435691782,0.7071095124345481,8.488756469725599e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,-2.5812402509073592e-17,2.2952250795496425e-17,-1.5704471091677734e-07],"object_linear_velocity_m_s":[-4.2527584706525724e-17,-4.680702788277465e-17,1.1795586771092104e-14],"object_angular_velocity_rad_s":[1.2450644711133018e-16,4.364190662816048e-16,-1.0140654201903009e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491470214628,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828241470646095,-1.5781914041624094,1.4649673802317875,-1.4835809001197928,-1.57077617719079,-0.4120322710489123,0.0],"actuator_force":[0.07076289835458738,-20.47029652935862,-19.64898971075081,-2.532962389174827,0.001491074268869852,-1.2822720805161225e-05,-0.2922328819861938],"issued_joint_targets_rad":[-1.9828284516537222,-1.5673162999458596,1.4706817843121647,-1.4743938806969605,-1.5707773272417707,-0.4120321239471764],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.799999999999454,"joint_targets_rad":[-1.9828284516537222,-1.5673162999458596,1.4706817843121647,-1.4743938806969605,-1.5707773272417707,-0.4120321239471764],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.819999999999443,"qpos":[-1.9828211586214857,-1.569275680262499,1.514162853759133,-1.5158755504373977,-1.5707793055947306,-0.41203267539745486,0.002933085187714512,0.0001559740556113891,0.0031928481518718748,-0.0034284972397605924,0.002933221306995752,0.00015655011957114239,0.0032002348883635712,-0.003436571683438454,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,-1.816402676398078e-17,1.8738594286855078e-17,-1.5742921375846443e-07],"qvel":[-0.00019424110532125646,0.008482684239619454,-0.2205637224965687,0.2086339375246431,1.563310019339107e-06,2.8796671019526238e-06,-0.00011891296405695258,-4.257537420356033e-05,-5.823038638402446e-05,0.0002444120448686778,-9.75239496225199e-05,7.339512236321676e-06,0.00017896718303631815,0.00025478195878271835,-2.25180403449917e-17,-2.3066415983053312e-17,1.1902445737212278e-14,1.1608370945042773e-15,-7.519636476164913e-16,-1.097395547364308e-08],"joint_position_rad":[-1.9828211586214857,-1.569275680262499,1.514162853759133,-1.5158755504373977,-1.5707793055947306,-0.41203267539745486],"joint_velocity_rad_s":[-0.00019424110532125646,0.008482684239619454,-0.2205637224965687,0.2086339375246431,1.563310019339107e-06,2.8796671019526238e-06],"linkage_position_rad":[0.002933085187714512,0.0001559740556113891,0.0031928481518718748,-0.0034284972397605924,0.002933221306995752,0.00015655011957114239,0.0032002348883635712,-0.003436571683438454],"tcp_position_m":[0.07427939647088272,0.5045813705585518,0.3538120111759442],"tcp_quaternion_wxyz":[-4.294985352480142e-05,0.7071040041965183,0.7071095515943798,8.630501143163463e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,-1.816402676398078e-17,1.8738594286855078e-17,-1.5742921375846443e-07],"object_linear_velocity_m_s":[-2.25180403449917e-17,-2.3066415983053312e-17,1.1902445737212278e-14],"object_angular_velocity_rad_s":[1.1608368573308557e-15,-7.519640135144589e-16,-1.0973955473643084e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491490264725,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982824001210108,-1.577819652357365,1.4602286110081744,-1.479214706104274,-1.5707760213341055,-0.41203212595715943,0.0],"actuator_force":[0.07201126488371301,-20.48101788558006,-19.64299650328985,-2.5329715859023736,0.0014857993106716094,-1.3246562502899906e-05,-0.2922331401671158],"issued_joint_targets_rad":[-1.9828283139324863,-1.5669244558686233,1.465921321374953,-1.4700261363984193,-1.5707771711706218,-0.412031986391155],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.819999999999443,"joint_targets_rad":[-1.9828283139324863,-1.5669244558686233,1.465921321374953,-1.4700261363984193,-1.5707771711706218,-0.412031986391155],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.839999999999431,"qpos":[-1.9828209951729252,-1.569055091879793,1.5095843828655717,-1.5115203172848035,-1.5707790815060099,-0.4120326103686115,0.002933065374613414,0.00015597348997543144,0.003192836168786315,-0.0034284770797432056,0.002933201676222665,0.00015655166799799473,0.0032002307912656963,-0.0034365497839425755,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,9.957381790380788e-18,1.6883608642976806e-17,-1.5778473132914346e-07],"qvel":[-0.00019748277102451983,0.009355114567957618,-0.2214779396574492,0.20869675397904852,1.2803688568429644e-06,3.2457808985010067e-06,-0.00011871382687607754,-4.261253250690646e-05,-5.69042746073949e-05,0.0002445336241502349,-9.727767567703567e-05,7.509001953269143e-06,0.00018097249037170537,0.0002548671614846131,-2.697089608853976e-17,2.5996235897090366e-17,1.1805301222557575e-14,3.0385332783664772e-15,-3.223691322106454e-17,-4.411185754548698e-08],"joint_position_rad":[-1.9828209951729252,-1.569055091879793,1.5095843828655717,-1.5115203172848035,-1.5707790815060099,-0.4120326103686115],"joint_velocity_rad_s":[-0.00019748277102451983,0.009355114567957618,-0.2214779396574492,0.20869675397904852,1.2803688568429644e-06,3.2457808985010067e-06],"linkage_position_rad":[0.002933065374613414,0.00015597348997543144,0.003192836168786315,-0.0034284770797432056,0.002933201676222665,0.00015655166799799473,0.0032002307912656963,-0.0034365497839425755],"tcp_position_m":[0.07427790399606497,0.504578299587797,0.3555176091046711],"tcp_quaternion_wxyz":[-4.3537371453082086e-05,0.707103969292827,0.7071095863153062,8.749755127831432e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,9.957381790380788e-18,1.6883608642976806e-17,-1.5778473132914346e-07],"object_linear_velocity_m_s":[-2.697089608853976e-17,2.5996235897090366e-17,1.1805301222557575e-14],"object_angular_velocity_rad_s":[3.0385332667038073e-15,-3.223787121089942e-17,-4.4111857545487e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931349146990082,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828238628517378,-1.5774301425868662,1.4554704654276234,-1.474846928200236,-1.5707758645304628,-0.412031988397981,0.0],"actuator_force":[0.07325775078470542,-20.49214724132935,-19.636659012917335,-2.53298085562119,0.0014804508878114575,-1.3592774621429271e-05,-0.2922333950290384],"issued_joint_targets_rad":[-1.9828281834111183,-1.5665146140488995,1.4611411650205715,-1.465656705144475,-1.5707770140676005,-0.4120318559976011],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.839999999999431,"joint_targets_rad":[-1.9828281834111183,-1.5665146140488995,1.4611411650205715,-1.465656705144475,-1.5707770140676005,-0.4120318559976011],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.85999999999942,"qpos":[-1.982820836615032,-1.5688164397681035,1.5049869456535796,-1.5071637425678661,-1.5707788636142406,-0.4120325390426384,0.0029330490793358166,0.00015597291903315084,0.003192827759568233,-0.0034284602331936796,0.00293318556280667,0.00015655322098625892,0.003200230275791931,-0.0034365312054658696,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,1.7841167794698873e-17,1.2058120610566522e-17,-1.57951990109895e-07],"qvel":[-0.00020073186296145826,0.010227211755844184,-0.22239576966359242,0.2087613119056602,1.03416435894891e-06,3.543908813180663e-06,-0.00011855044015727537,-4.2650243638982395e-05,-5.560366911171276e-05,0.00024469209203697463,-9.706666184903828e-05,7.680255523984754e-06,0.0001829609065061812,0.00025498983274558625,-1.4812466272352007e-17,1.6594813030504322e-17,1.1948242436978061e-14,-4.410744162330669e-16,-6.524658235671649e-16,-4.773671904451905e-09],"joint_position_rad":[-1.982820836615032,-1.5688164397681035,1.5049869456535796,-1.5071637425678661,-1.5707788636142406,-0.4120325390426384],"joint_velocity_rad_s":[-0.00020073186296145826,0.010227211755844184,-0.22239576966359242,0.2087613119056602,1.03416435894891e-06,3.543908813180663e-06],"linkage_position_rad":[0.0029330490793358166,0.00015597291903315084,0.003192827759568233,-0.0034284602331936796,0.00293318556280667,0.00015655322098625892,0.003200230275791931,-0.0034365312054658696],"tcp_position_m":[0.07427645982584766,0.5045753291729028,0.3572230379298947],"tcp_quaternion_wxyz":[-4.4041945575585694e-05,0.7071039383600621,0.7071096170934688,8.848685560547771e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,1.7841167794698873e-17,1.2058120610566522e-17,-1.57951990109895e-07],"object_linear_velocity_m_s":[-1.4812466272352007e-17,1.6594813030504322e-17,1.1948242436978061e-14],"object_angular_velocity_rad_s":[-4.4107462246471873e-16,-6.524656840596332e-16,-4.7736719044519075e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491416137178,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828237316102555,-1.5770228403913062,1.450692803636124,-1.470477461395611,-1.5707757067157382,-0.4120318580018644,0.0],"actuator_force":[0.07450275473775037,-20.50368594874317,-19.629976169474503,-2.5329906044385098,0.0014750328153922965,-1.3870494314005555e-05,-0.2922336465970927],"issued_joint_targets_rad":[-1.9828280597163137,-1.5660867380908998,1.456341171852739,-1.4612854804336652,-1.570776855873238,-0.41203173239747404],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.85999999999942,"joint_targets_rad":[-1.9828280597163137,-1.5660867380908998,1.456341171852739,-1.4612854804336652,-1.570776855873238,-0.41203173239747404],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.87999999999941,"qpos":[-1.9828206829442192,-1.5685597273180663,1.5003704612500677,-1.5028057843650977,-1.5707786512207587,-0.4120324626760699,0.0029330356651728,0.0001559723428267703,0.00319282229094438,-0.0034284460960209593,0.0029331723302309853,0.0001565547794656156,0.0032002327144430767,-0.003436515342118379,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,1.823020775877899e-17,3.3535701683092676e-17,-1.5841625063389962e-07],"qvel":[-0.00020398744063420887,0.011099178958700825,-0.22331752733121113,0.20882793727716598,8.214791105768037e-07,3.782261558849375e-06,-0.00011841643919069122,-4.268852109367689e-05,-5.432206713430649e-05,0.00024488145778252257,-9.688453613603408e-05,7.853300582252111e-06,0.00018493904872916812,0.00025514396533321223,-4.1283499159628783e-17,2.4470955639219397e-17,1.2031509163824948e-14,-8.960842070308774e-16,5.0153231592452034e-17,-1.9188663151022695e-08],"joint_position_rad":[-1.9828206829442192,-1.5685597273180663,1.5003704612500677,-1.5028057843650977,-1.5707786512207587,-0.4120324626760699],"joint_velocity_rad_s":[-0.00020398744063420887,0.011099178958700825,-0.22331752733121113,0.20882793727716598,8.214791105768037e-07,3.782261558849375e-06],"linkage_position_rad":[0.0029330356651728,0.0001559723428267703,0.00319282229094438,-0.0034284460960209593,0.0029331723302309853,0.0001565547794656156,0.0032002327144430767,-0.003436515342118379],"tcp_position_m":[0.07427506559872007,0.5045724635138653,0.3589282966628121],"tcp_quaternion_wxyz":[-4.4471623305587884e-05,0.7071039109516288,0.7071096443735108,8.929250954949079e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,1.823020775877899e-17,3.3535701683092676e-17,-1.5841625063389962e-07],"object_linear_velocity_m_s":[-4.1283499159628783e-17,2.4470955639219397e-17,1.2031509163824948e-14],"object_angular_velocity_rad_s":[-8.960841924276697e-16,5.0153516200677046e-17,-1.9188663151022708e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931349133471458,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982823607107446,-1.5765977092294492,1.4458954823196424,-1.4661061993185316,-1.570775547828143,-0.4120317343997181,0.0],"actuator_force":[0.07574664979983936,-20.515635406246474,-19.62294692836622,-2.5330012044335035,0.0014695483966988832,-1.4087979963051112e-05,-0.2922338948935556],"issued_joint_targets_rad":[-1.9828279424733863,-1.5656407893753175,1.4515211948927078,-1.4569123543847717,-1.5707766965298293,-0.4120316152199543],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.87999999999941,"joint_targets_rad":[-1.9828279424733863,-1.5656407893753175,1.4515211948927078,-1.4569123543847717,-1.5707766965298293,-0.4120316152199543],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.899999999999398,"qpos":[-1.982820534131187,-1.568284953881527,1.4957348425159915,-1.498446394452495,-1.5707784436883014,-0.41203238236945905,0.0029330246102988247,0.00015597176135476927,0.0031928192440448025,-0.0034284341731588407,0.0029331614568442422,0.00015655634427237642,0.0032002375936898884,-0.003436501697162102,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,1.1575255092898395e-17,2.772545976176796e-17,-1.5866773584110014e-07],"qvel":[-0.00020724862915385908,0.01197121003499671,-0.22424351393446282,0.2088969312142951,6.393976054122172e-07,3.9682709687989515e-06,-0.00011830660843154992,-4.272737823799672e-05,-5.30541041402628e-05,0.0002450968234141994,-9.672607537125432e-05,8.028166580022977e-06,0.00018691240305393435,0.00025532464660935517,-4.2293110317913546e-17,1.2576715943854301e-17,1.2050938066755891e-14,-7.42593594058721e-16,-1.4329450506432124e-16,-7.71324047595405e-08],"joint_position_rad":[-1.982820534131187,-1.568284953881527,1.4957348425159915,-1.498446394452495,-1.5707784436883014,-0.41203238236945905],"joint_velocity_rad_s":[-0.00020724862915385908,0.01197121003499671,-0.22424351393446282,0.2088969312142951,6.393976054122172e-07,3.9682709687989515e-06],"linkage_position_rad":[0.0029330246102988247,0.00015597176135476927,0.0031928192440448025,-0.0034284341731588407,0.0029331614568442422,0.00015655634427237642,0.0032002375936898884,-0.003436501697162102],"tcp_position_m":[0.0742737230247587,0.5045697069668545,0.3606333842872864],"tcp_quaternion_wxyz":[-4.483368023336779e-05,0.7071038866669946,0.7071096685540142,8.993221215336083e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,1.1575255092898395e-17,2.772545976176796e-17,-1.5866773584110014e-07],"object_linear_velocity_m_s":[-4.2293110317913546e-17,1.2576715943854301e-17,1.2050938066755891e-14],"object_angular_velocity_rad_s":[-7.42593643808176e-16,-1.432942676273705e-16,-7.713240475954055e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491230330447,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828234889638652,-1.5761547104056777,1.4410783545971901,-1.4617330342035846,-1.570775387807857,-0.41203161722067655,0.0],"actuator_force":[0.0769897863051483,-20.52799706229962,-19.615570263817517,-2.533012996974321,0.0014640004616239821,-1.4252705625494855e-05,-0.2922341399381393],"issued_joint_targets_rad":[-1.982827831304048,-1.5651767269844783,1.4466810834656092,-1.4525372177008924,-1.570776535981125,-0.4120315040902687],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.899999999999398,"joint_targets_rad":[-1.982827831304048,-1.5651767269844783,1.4466810834656092,-1.4525372177008924,-1.570776535981125,-0.4120315040902687],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.919999999999387,"qpos":[-1.9828203901217745,-1.5679921149416245,1.4910799962941057,-1.4940855187720974,-1.5707782404352635,-0.41203229908196054,0.00293301548703997,0.00015597117458074298,0.0031928181937589443,-0.0034284240588848477,0.0029331525151303404,0.00015655791616343815,0.0032002444933758624,-0.0034364898633171014,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,7.444651504974141e-18,1.9994366146129833e-17,-1.5896019851881016e-07],"qvel":[-0.0002105146104151918,0.012843490798595904,-0.22517401902779866,0.2089685725317145,4.852788375996447e-07,4.108674637540103e-06,-0.00011821667424167637,-4.276682847899239e-05,-5.179534730035773e-05,0.0002453341863285819,-9.658699795748932e-05,8.204884634491155e-06,0.00018888553035221106,0.00025552785946896504,-2.4652577705198094e-17,9.170228885697312e-18,1.1429213172965803e-14,-3.2455693550563115e-16,-8.999181110398222e-16,-8.347070697346136e-09],"joint_position_rad":[-1.9828203901217745,-1.5679921149416245,1.4910799962941057,-1.4940855187720974,-1.5707782404352635,-0.41203229908196054],"joint_velocity_rad_s":[-0.0002105146104151918,0.012843490798595904,-0.22517401902779866,0.2089685725317145,4.852788375996447e-07,4.108674637540103e-06],"linkage_position_rad":[0.00293301548703997,0.00015597117458074298,0.0031928181937589443,-0.0034284240588848477,0.0029331525151303404,0.00015655791616343815,0.0032002444933758624,-0.0034364898633171014],"tcp_position_m":[0.07427243388907509,0.5045670640547248,0.36233829975940646],"tcp_quaternion_wxyz":[-4.513469408834843e-05,0.7071038651468546,0.7071096899923714,9.042195729521985e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,7.444651504974141e-18,1.9994366146129833e-17,-1.5896019851881016e-07],"object_linear_velocity_m_s":[-2.4652577705198094e-17,9.170228885697312e-18,1.1429213172965803e-14],"object_angular_velocity_rad_s":[-3.2455722194172693e-16,-8.999180077322255e-16,-8.347070697346143e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313491106827329,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828233767965944,-1.5756938029915435,1.4362412699072118,-1.4573578568571723,-1.570775226596701,-0.4120315060899251,0.0],"actuator_force":[0.07823249452621894,-20.54077241927598,-19.607845162668582,-2.5330262957088507,0.0014583913974774987,-1.4371446042105163e-05,-0.2922343817475197],"issued_joint_targets_rad":[-1.9828277258241978,-1.5646945076207184,1.4418206830794003,-1.448159959632655,-1.570776374172035,-0.412031398627516],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.919999999999387,"joint_targets_rad":[-1.9828277258241978,-1.5646945076207184,1.4418206830794003,-1.448159959632655,-1.570776374172035,-0.412031398627516],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.939999999999376,"qpos":[-1.9828202508376036,-1.567681202258596,1.4864058236215336,-1.4897230978521336,-1.5707780409304768,-0.41203221364430753,0.0029330079448835165,0.0001559705824410004,0.0031928187918236965,-0.0034284154206900928,0.0029331451547195244,0.00015655949582886938,0.0032002530698413195,-0.003436479506622615,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,1.7149886084887817e-17,1.5608798949565144e-17,-1.5938010153501675e-07],"qvel":[-0.00021378461479666064,0.013716200181553324,-0.2261093221281175,0.20904312004387315,3.567314972565849e-07,4.2095924495941355e-06,-0.00011814313499171843,-4.280688530200759e-05,-5.054212534858793e-05,0.00024559027991776444,-9.646379396049861e-05,8.383487465456212e-06,0.00019086223605228165,0.00025575032249512724,-2.2327901370097684e-17,2.948027730513769e-17,1.1265455276833594e-14,4.913806642038122e-16,-5.49886607944001e-16,-3.355260502084449e-08],"joint_position_rad":[-1.9828202508376036,-1.567681202258596,1.4864058236215336,-1.4897230978521336,-1.5707780409304768,-0.41203221364430753],"joint_velocity_rad_s":[-0.00021378461479666064,0.013716200181553324,-0.2261093221281175,0.20904312004387315,3.567314972565849e-07,4.2095924495941355e-06],"linkage_position_rad":[0.0029330079448835165,0.0001559705824410004,0.0031928187918236965,-0.0034284154206900928,0.0029331451547195244,0.00015655949582886938,0.0032002530698413195,-0.003436479506622615],"tcp_position_m":[0.07427120005574395,0.5045645394785445,0.364043042007011],"tcp_quaternion_wxyz":[-4.538061161837653e-05,0.707103846068781,0.7071097090091599,9.07761972566666e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,1.7149886084887817e-17,1.5608798949565144e-17,-1.5938010153501675e-07],"object_linear_velocity_m_s":[-2.2327901370097684e-17,2.948027730513769e-17,1.1265455276833594e-14],"object_angular_velocity_rad_s":[4.913804878743894e-16,-5.498867634257269e-16,-3.355260502084452e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490967347308,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828232702170085,-1.5752149437410228,1.4313840738865962,-1.4529805566218885,-1.5707750641378229,-0.4120314006265255,0.0],"actuator_force":[0.07947508710913098,-20.553963037475114,-19.5997706186281,-2.533041389264781,0.0014527231772945015,-1.4450353944539529e-05,-0.29223462033539094],"issued_joint_targets_rad":[-1.9828276256416744,-1.5641940855173178,1.4369398352955958,-1.4437804679404609,-1.5707762110483614,-0.4120312984424527],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.939999999999376,"joint_targets_rad":[-1.9828276256416744,-1.5641940855173178,1.4369398352955958,-1.4437804679404609,-1.5707762110483614,-0.4120312984424527],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.959999999999365,"qpos":[-1.982820116176534,-1.5673522039929488,1.4817122199097408,-1.4853590671833012,-1.570777844688462,-0.41203212677033196,0.002933001696553055,0.00015596998485014997,0.003192820752957365,-0.0034284079860698096,0.0029331390884648253,0.00015656108390206877,0.0032002630420953633,-0.003436470353212438,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,1.440127107055055e-17,1.1200728913569512e-17,-1.5950732283375799e-07],"qvel":[-0.00021705791317067725,0.014589511319177323,-0.22704969427387633,0.20912081465423007,2.5159140497647573e-07,4.276595953223403e-06,-0.00011808312181683743,-4.284756241003293e-05,-4.9291390199790406e-05,0.00024586243958942786,-9.635358584549903e-05,8.56400948007358e-06,0.0001928457094842731,0.00025598935788616496,-1.3938940068268465e-17,1.6414791708002588e-17,1.1176637434863579e-14,-7.236818039635219e-16,-4.0065135332168424e-16,-3.630976721939664e-09],"joint_position_rad":[-1.982820116176534,-1.5673522039929488,1.4817122199097408,-1.4853590671833012,-1.570777844688462,-0.41203212677033196],"joint_velocity_rad_s":[-0.00021705791317067725,0.014589511319177323,-0.22704969427387633,0.20912081465423007,2.5159140497647573e-07,4.276595953223403e-06],"linkage_position_rad":[0.002933001696553055,0.00015596998485014997,0.003192820752957365,-0.0034284079860698096,0.0029331390884648253,0.00015656108390206877,0.0032002630420953633,-0.003436470353212438],"tcp_position_m":[0.07427002347225946,0.504562138130266,0.365747609929172],"tcp_quaternion_wxyz":[-4.55768090645065e-05,0.7071038291433245,0.7071097258920627,9.100799058744332e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,1.440127107055055e-17,1.1200728913569512e-17,-1.5950732283375799e-07],"object_linear_velocity_m_s":[-1.3938940068268465e-17,1.6414791708002588e-17,1.1176637434863579e-14],"object_angular_velocity_rad_s":[-7.236819318584745e-16,-4.0065112235198865e-16,-3.6309767219396683e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490814458629,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982823168828508,-1.5747180869987774,1.4265066082414974,-1.448601021339811,-1.5707749003754157,-0.41203130044120045,0.0],"actuator_force":[0.0807178613204087,-20.56757053932779,-19.591345626936345,-2.533058543677953,0.001446997382686277,-1.449502957484583e-05,-0.29223485571258234],"issued_joint_targets_rad":[-1.9828275303539626,-1.5636754123412229,1.432038377590904,-1.4393986288556533,-1.5707760465565448,-0.4120312031352269],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.959999999999365,"joint_targets_rad":[-1.9828275303539626,-1.5636754123412229,1.432038377590904,-1.4393986288556533,-1.5707760465565448,-0.4120312031352269],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.979999999999354,"qpos":[-1.9828199860129192,-1.5670051048074003,1.4769990750941784,-1.4809933575552798,-1.570777651265114,-0.4120320390671638,0.002932996506596507,0.0001559693817060529,0.0031928238434972673,-0.003428401531690162,0.002933134081031258,0.00015656268096841199,0.0032002741804866993,-0.0034364621784733333,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,2.1966416424312503e-17,1.567416450457392e-17,-1.5995999727595036e-07],"qvel":[-0.0002203338092570593,0.015463592568467072,-0.2279953994770439,0.2092018812491302,1.6790107226840122e-07,4.31477132057648e-06,-0.00011803428454739338,-4.2888873724095786e-05,-4.804060210160351e-05,0.0002461484971218861,-9.625401439869373e-05,8.74648661051617e-06,0.00019483863741038426,0.00025624278215349665,-1.9379822847403842e-17,2.626305118072128e-17,1.1158596310713414e-14,-5.58305074964558e-16,-2.9863648973016894e-16,-1.459538707750385e-08],"joint_position_rad":[-1.9828199860129192,-1.5670051048074003,1.4769990750941784,-1.4809933575552798,-1.570777651265114,-0.4120320390671638],"joint_velocity_rad_s":[-0.0002203338092570593,0.015463592568467072,-0.2279953994770439,0.2092018812491302,1.6790107226840122e-07,4.31477132057648e-06],"linkage_position_rad":[0.002932996506596507,0.0001559693817060529,0.0031928238434972673,-0.003428401531690162,0.002933134081031258,0.00015656268096841199,0.0032002741804866993,-0.0034364621784733333],"tcp_position_m":[0.07426890617456221,0.504559865106668,0.36745200239562603],"tcp_quaternion_wxyz":[-4.57281468412369e-05,0.7071038141104994,0.7071097408993888,9.112913577777196e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,2.1966416424312503e-17,1.567416450457392e-17,-1.5995999727595036e-07],"object_linear_velocity_m_s":[-1.9379822847403842e-17,2.626305118072128e-17,1.1158596310713414e-14],"object_angular_velocity_rad_s":[-5.583051709618551e-16,-2.986363104759807e-16,-1.4595387077503867e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490650259329,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828230722242073,-1.5742031846006213,1.4216087106090831,-1.4442191373146156,-1.5707747352544486,-0.41203120513406816,0.0],"actuator_force":[0.08196110112658062,-20.581596613828424,-19.582569179372967,-2.5330780045809433,0.0014412152254408284,-1.4510584236404611e-05,-0.2922350878866578],"issued_joint_targets_rad":[-1.9828274395458176,-1.5631384370866275,1.427116143208673,-1.4350143270404903,-1.5707758806434253,-0.41203111229303724],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.979999999999354,"joint_targets_rad":[-1.9828274395458176,-1.5631384370866275,1.427116143208673,-1.4350143270404903,-1.5707758806434253,-0.41203111229303724],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.999999999999343,"qpos":[-1.982819860197672,-1.5666398859487873,1.4722662737555432,-1.476625895357177,-1.5707774602537754,-0.41203195104422885,0.0029329921820331287,0.00015596877289303273,0.0031928278720877216,-0.0034283958745096534,0.0029331299395438898,0.0001565642875725821,0.0032002862974203137,-0.0034364547981565272,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,3.121973608878837e-17,-2.6560523754307185e-18,-1.6030120351197463e-07],"qvel":[-0.00022361163214336188,0.016338608470776658,-0.22894669608323678,0.20928653041556505,1.0389117452888864e-07,4.328776622724536e-06,-0.00011799469824472001,-4.2930833584207246e-05,-4.6787636755725924e-05,0.00024644668980321725,-9.616314523118098e-05,8.930956422007602e-06,0.00019684329810726894,0.0002565088181447348,2.3229938786810517e-17,5.85247163249837e-17,1.1139167407782473e-14,2.2282841758570832e-15,-2.9769751235550685e-15,-5.8668876243427006e-08],"joint_position_rad":[-1.982819860197672,-1.5666398859487873,1.4722662737555432,-1.476625895357177,-1.5707774602537754,-0.41203195104422885],"joint_velocity_rad_s":[-0.00022361163214336188,0.016338608470776658,-0.22894669608323678,0.20928653041556505,1.0389117452888864e-07,4.328776622724536e-06],"linkage_position_rad":[0.0029329921820331287,0.00015596877289303273,0.0031928278720877216,-0.0034283958745096534,0.0029331299395438898,0.0001565642875725821,0.0032002862974203137,-0.0034364547981565272],"tcp_position_m":[0.0742678502926967,0.5045577257247283,0.3691562182461503],"tcp_quaternion_wxyz":[-4.583901898196146e-05,0.7071038007366326,0.7071097542632376,9.115029209343224e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,3.121973608878837e-17,-2.6560523754307185e-18,-1.6030120351197463e-07],"object_linear_velocity_m_s":[2.3229938786810517e-17,5.85247163249837e-17,1.1139167407782473e-14],"object_angular_velocity_rad_s":[2.228283221743237e-15,-2.9769758342849363e-15,-5.8668876243427086e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490476462262,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982822979984541,-1.5736701857652429,1.4166902144091138,-1.4398347892724008,-1.5707745687204153,-0.4120311142923,0.0],"actuator_force":[0.08320507911957975,-20.596043021221703,-19.573440259563995,-2.533099999168485,0.0014353775625295384,-1.4501697847890682e-05,-0.2922353168614714],"issued_joint_targets_rad":[-1.982827352786783,-1.5625831059583257,1.422172960998954,-1.4306274455468155,-1.5707757132560185,-0.41203102548767206],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.999999999999343,"joint_targets_rad":[-1.982827352786783,-1.5625831059583257,1.422172960998954,-1.4306274455468155,-1.5707757132560185,-0.41203102548767206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.019999999999332,"qpos":[-1.9828197385581336,-1.566256525310912,1.467513695214299,-1.4722566028452264,-1.5707772712816659,-0.41203186312114864,0.002932988564688228,0.0001559681582849915,0.0031928326820476085,-0.0034283908645107155,0.0029331265059235204,0.00015656590422485642,0.0032002992397535063,-0.0034364480610960734,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,3.046707780789626e-17,-1.2511023378400664e-17,-1.605236580911866e-07],"qvel":[-0.0002268907289429904,0.017214720669202134,-0.22990383805435516,0.2093749600001201,5.796374366835012e-08,4.322894158136466e-06,-0.00011796278653704205,-4.2973456665739664e-05,-4.553070761433459e-05,0.0002467555895366225,-9.60793920995351e-05,9.117458135779712e-06,0.0001988616384935939,0.0002567860223655094,1.2444750720103092e-17,3.4600884561616195e-17,1.1061451796058713e-14,-1.0864769819746478e-15,1.1881827216257901e-16,-6.348995072361449e-09],"joint_position_rad":[-1.9828197385581336,-1.566256525310912,1.467513695214299,-1.4722566028452264,-1.5707772712816659,-0.41203186312114864],"joint_velocity_rad_s":[-0.0002268907289429904,0.017214720669202134,-0.22990383805435516,0.2093749600001201,5.796374366835012e-08,4.322894158136466e-06],"linkage_position_rad":[0.002932988564688228,0.0001559681582849915,0.0031928326820476085,-0.0034283908645107155,0.0029331265059235204,0.00015656590422485642,0.0032002992397535063,-0.0034364480610960734],"tcp_position_m":[0.07426685805716417,0.5045557255386021,0.37086025628987623],"tcp_quaternion_wxyz":[-4.591339784552524e-05,0.707103788811524,0.7071097661923375,9.10810888085592e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,3.046707780789626e-17,-1.2511023378400664e-17,-1.605236580911866e-07],"object_linear_velocity_m_s":[1.2444750720103092e-17,3.4600884561616195e-17,1.1061451796058713e-14],"object_angular_velocity_rad_s":[-1.0864769436694411e-15,1.1881862135996282e-16,-6.348995072361458e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490294464667,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828228916747677,-1.5731190369760735,1.411750948684162,-1.4354478603211265,-1.570774400719098,-0.4120310274876601,0.0],"actuator_force":[0.0844500583093577,-20.610911598003895,-19.563957838532133,-2.533124737962112,0.001429484909635903,-1.4472671523435565e-05,-0.2922355426374046],"issued_joint_targets_rad":[-1.9828272696285696,-1.5620093622435662,1.4172086552457563,-1.4262378657733041,-1.570775544341295,-0.4120309422729136],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.019999999999332,"joint_targets_rad":[-1.9828272696285696,-1.5620093622435662,1.4172086552457563,-1.4262378657733041,-1.570775544341295,-0.4120309422729136],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.03999999999932,"qpos":[-1.9828196208977364,-1.5658549974790794,1.462741213599812,-1.4678853983807518,-1.5707770840066329,-0.4120317756346347,0.002932985524911031,0.00015596753774763393,0.0031928381451140743,-0.003428386378733326,0.002933123650605364,0.0001565675314063683,0.003200312882563963,-0.0034364418432388244,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,2.8912956862413406e-17,-1.7027380043393802e-17,-1.6094288135001755e-07],"qvel":[-0.00023017045751628072,0.018092088791033765,-0.23086707618773217,0.2094673565248878,2.8676992395209513e-08,4.301078388508896e-06,-0.00011793725889046922,-4.301675813476165e-05,-4.4268303223942256e-05,0.0002470740437396465,-9.600145414489113e-05,9.306032607634358e-06,0.0002008953371091924,0.0002570732250397895,2.1298771989644762e-17,4.098891974401084e-17,1.1012879538731361e-14,-6.86900959800137e-16,-1.3410048300013681e-16,-2.55209679738206e-08],"joint_position_rad":[-1.9828196208977364,-1.5658549974790794,1.462741213599812,-1.4678853983807518,-1.5707770840066329,-0.4120317756346347],"joint_velocity_rad_s":[-0.00023017045751628072,0.018092088791033765,-0.23086707618773217,0.2094673565248878,2.8676992395209513e-08,4.301078388508896e-06],"linkage_position_rad":[0.002932985524911031,0.00015596753774763393,0.0031928381451140743,-0.003428386378733326,0.002933123650605364,0.0001565675314063683,0.003200312882563963,-0.0034364418432388244],"tcp_position_m":[0.0742659318060498,0.5045538703584168,0.3725641153045321],"tcp_quaternion_wxyz":[-4.5954874540693444e-05,0.7071037781458901,0.7071097768746034,9.093022394295433e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,2.8912956862413406e-17,-1.7027380043393802e-17,-1.6094288135001755e-07],"object_linear_velocity_m_s":[2.1298771989644762e-17,4.098891974401084e-17,1.1012879538731361e-14],"object_angular_velocity_rad_s":[-6.869010020960281e-16,-1.3410026042071757e-16,-2.552096797382064e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313490105405253,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828228068423328,-1.5725496818520166,1.406790737927042,-1.4310582319085494,-1.5707742311963362,-0.4120309442739088,0.0],"actuator_force":[0.08569629381418054,-20.626204262287956,-19.554120870447605,-2.5331524163875656,0.00142353744911361,-1.4427475889533525e-05,-0.29223576521064293],"issued_joint_targets_rad":[-1.982827189602257,-1.5614171461708786,1.4122230454798272,-1.4218454674211616,-1.570775373845973,-0.41203086218176366],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.03999999999932,"joint_targets_rad":[-1.982827189602257,-1.5614171461708786,1.4122230454798272,-1.4218454674211616,-1.570775373845973,-0.41203086218176366],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.05999999999931,"qpos":[-1.9828195069954626,-1.565435273756872,1.4579486978951735,-1.463512196641082,-1.5707768981141954,-0.412031688844457,0.0029329829564257374,0.00015596691113985286,0.0031928441563155363,-0.003428382316394991,0.002933121267390853,0.00015656916957361506,0.003200327124046166,-0.0034364360427516305,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,2.4412040797295475e-17,-1.5857753343552827e-17,-1.6114534310509117e-07],"qvel":[-0.00023345017910238045,0.01897087130586527,-0.23183665928562242,0.20956389647453003,1.4731559263233646e-08,4.267000095643735e-06,-0.00011791705918597134,-4.306075374273529e-05,-4.299913497947732e-05,0.00024740112541315736,-9.592826442696586e-05,9.496722506155661e-06,0.00020294585673183996,0.00025736948184361126,5.9812537490535e-17,8.405360823734439e-17,1.0953205051157755e-14,3.778017185851911e-15,-2.672209919125536e-15,-1.0258628316726059e-07],"joint_position_rad":[-1.9828195069954626,-1.565435273756872,1.4579486978951735,-1.463512196641082,-1.5707768981141954,-0.412031688844457],"joint_velocity_rad_s":[-0.00023345017910238045,0.01897087130586527,-0.23183665928562242,0.20956389647453003,1.4731559263233646e-08,4.267000095643735e-06],"linkage_position_rad":[0.0029329829564257374,0.00015596691113985286,0.0031928441563155363,-0.003428382316394991,0.002933121267390853,0.00015656916957361506,0.003200327124046166,-0.0034364360427516305],"tcp_position_m":[0.07426507399302171,0.5045521662711296,0.3742677940356125],"tcp_quaternion_wxyz":[-4.5966695477113806e-05,0.7071037685690604,0.7071097864794387,9.070555351571054e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,2.4412040797295475e-17,-1.5857753343552827e-17,-1.6114534310509117e-07],"object_linear_velocity_m_s":[5.9812537490535e-17,8.405360823734439e-17,1.0953205051157755e-14],"object_angular_velocity_rad_s":[3.77801632787693e-15,-2.672211131736472e-15,-1.0258628316726075e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313489910210884,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828227250140567,-1.5719620610054987,1.4018094018937863,-1.426665783778545,-1.5707740600978102,-0.4120308641840285,0.0],"actuator_force":[0.08694403445315402,-20.641923019599744,-19.543928288524967,-2.5331832161845114,0.0014175350365803752,-1.4369795337643154e-05,-0.29223598457276484],"issued_joint_targets_rad":[-1.982827112215278,-1.5608063947540822,1.4072159462750182,-1.4174501284481504,-1.570775201716313,-0.412030784723447],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.05999999999931,"joint_targets_rad":[-1.982827112215278,-1.5608063947540822,1.4072159462750182,-1.4174501284481504,-1.570775201716313,-0.412030784723447],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.079999999999298,"qpos":[-1.9828193966050789,-1.5649973221754747,1.4531360119584975,-1.4591369088058572,-1.5707767133148456,-0.4120316029385541,0.0029329807721117786,0.00015596627831523078,0.003192850629769285,-0.003428378594880268,0.002933119269228532,0.00015657081916221205,0.003200341881329436,-0.0034364305760066147,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,2.946166836382822e-17,-2.0262286618712065e-17,-1.6153431916729162e-07],"qvel":[-0.0002367292508004982,0.01985122637007697,-0.23281283528875793,0.20966474746739922,1.495808997829064e-08,4.224087329856166e-06,-0.00011790132357252352,-4.310545977574776e-05,-4.172209403155415e-05,0.0002477360957249582,-9.58589477533925e-05,9.68957224056241e-06,0.00020501448719216687,0.0002576740333331454,2.4239402733845764e-17,3.5645140483773995e-17,1.09795728479926e-14,-9.21854314598623e-16,5.224812884988819e-16,-1.1101624030060741e-08],"joint_position_rad":[-1.9828193966050789,-1.5649973221754747,1.4531360119584975,-1.4591369088058572,-1.5707767133148456,-0.4120316029385541],"joint_velocity_rad_s":[-0.0002367292508004982,0.01985122637007697,-0.23281283528875793,0.20966474746739922,1.495808997829064e-08,4.224087329856166e-06],"linkage_position_rad":[0.0029329807721117786,0.00015596627831523078,0.003192850629769285,-0.003428378594880268,0.002933119269228532,0.00015657081916221205,0.003200341881329436,-0.0034364305760066147],"tcp_position_m":[0.07426428719630628,0.5045506196637297,0.3759712911954557],"tcp_quaternion_wxyz":[-4.59517954152094e-05,0.7071037599269008,0.7071097951598104,9.041417221260283e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,2.946166836382822e-17,-2.0262286618712065e-17,-1.6153431916729162e-07],"object_linear_velocity_m_s":[2.4239402733845764e-17,3.5645140483773995e-17,1.09795728479926e-14],"object_angular_velocity_rad_s":[-9.218541453513693e-16,5.224815869752183e-16,-1.1101624030060761e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313489709634912,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828226456931062,-1.5713561118860473,1.39680675540023,-1.4222703939256895,-1.5707738873688246,-0.4120307867272265,0.0],"actuator_force":[0.08819352426598925,-20.658069969176267,-19.533379001032245,-2.53321730665607,0.0014114772014863775,-1.4303069178822625e-05,-0.292236200710386],"issued_joint_targets_rad":[-1.9828270369481442,-1.5601770416193157,1.4021871670259072,-1.41305172502078,-1.5707750278979147,-0.41203070938015496],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.079999999999298,"joint_targets_rad":[-1.9828270369481442,-1.5601770416193157,1.4021871670259072,-1.41305172502078,-1.5707750278979147,-0.41203070938015496],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.099999999999287,"qpos":[-1.9828192894541303,-1.5645411074856475,1.4483030145211773,-1.4547594427208994,-1.5707765293415983,-0.4120315180373426,0.002932978900545121,0.00015596563912269852,0.003192857495235509,-0.0034283751464673096,0.0029331175847559098,0.00015657248059036563,0.003200357087052419,-0.0034364253742944235,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,2.6173650257073614e-17,-1.2241491855933055e-17,-1.6189397275028983e-07],"qvel":[-0.00024000701781862465,0.020733312669195893,-0.23379585238820694,0.20977006932247164,2.8306046321786636e-08,4.1755636227128585e-06,-0.00011788934599716716,-4.315089327706532e-05,-4.0436216269625334e-05,0.0002480783695794789,-9.579278614303003e-05,9.884628233417184e-06,0.00020710238148446673,0.00025798627353827377,1.6734030624293924e-17,3.344451769074872e-17,1.0875489439433989e-14,-9.651967208431516e-17,9.005930320647517e-16,-4.4625045081847386e-08],"joint_position_rad":[-1.9828192894541303,-1.5645411074856475,1.4483030145211773,-1.4547594427208994,-1.5707765293415983,-0.4120315180373426],"joint_velocity_rad_s":[-0.00024000701781862465,0.020733312669195893,-0.23379585238820694,0.20977006932247164,2.8306046321786636e-08,4.1755636227128585e-06],"linkage_position_rad":[0.002932978900545121,0.00015596563912269852,0.003192857495235509,-0.0034283751464673096,0.0029331175847559098,0.00015657248059036563,0.003200357087052419,-0.0034364253742944235],"tcp_position_m":[0.07426357412877688,0.5045492372491218,0.37767460546223863],"tcp_quaternion_wxyz":[-4.5912827345886506e-05,0.7071037520799286,0.7071098030541274,9.006248630609312e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,2.6173650257073614e-17,-1.2241491855933055e-17,-1.6189397275028983e-07],"object_linear_velocity_m_s":[1.6734030624293924e-17,3.344451769074872e-17,1.0875489439433989e-14],"object_angular_velocity_rad_s":[-9.651937939058807e-17,9.00593065652613e-16,-4.4625045081847466e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313489504288501,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982822568355708,-1.5707317686072269,1.3917826080998668,-1.4178719385479521,-1.5707737129541002,-0.4120307113856785,0.0],"actuator_force":[0.08944500397228694,-20.674647310836917,-19.52247188733827,-2.533254845773513,0.001405363144385774,-1.423053021198939e-05,-0.29223641360435054],"issued_joint_targets_rad":[-1.9828269632508533,-1.5595290168125362,1.3971365117039636,-1.4086501314645337,-1.5707748523355112,-0.41203063560347497],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.099999999999287,"joint_targets_rad":[-1.9828269632508533,-1.5595290168125362,1.3971365117039636,-1.4086501314645337,-1.5707748523355112,-0.41203063560347497],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.119999999999276,"qpos":[-1.9828191852426826,-1.5640665911321745,1.443449559163299,-1.4503797030416101,-1.5707763459477497,-0.41203143419727284,0.002932977283163529,0.00015596499340740538,0.003192864695293731,-0.0034283719156369924,0.002933116155465147,0.00015657415426135104,0.0032003726865558104,-0.003436420381127645,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,1.9585523008737883e-17,-5.483061667186026e-18,-1.6206317738248376e-07],"qvel":[-0.0002432828052973292,0.02161729027030382,-0.23478596013018732,0.20988001503262246,5.383364973108702e-08,4.124483980309808e-06,-0.0001178805499265328,-4.3197072006534456e-05,-3.9140652497422366e-05,0.00024842749160590443,-9.572919050472748e-05,1.0081938956519245e-05,0.00020921058518448248,0.0002583057217399628,8.449605209214683e-18,2.1526235703587974e-17,1.0817202730641167e-14,-8.68319116145166e-16,7.967782134694064e-16,-4.829207741307278e-09],"joint_position_rad":[-1.9828191852426826,-1.5640665911321745,1.443449559163299,-1.4503797030416101,-1.5707763459477497,-0.41203143419727284],"joint_velocity_rad_s":[-0.0002432828052973292,0.02161729027030382,-0.23478596013018732,0.20988001503262246,5.383364973108702e-08,4.124483980309808e-06],"linkage_position_rad":[0.002932977283163529,0.00015596499340740538,0.003192864695293731,-0.0034283719156369924,0.002933116155465147,0.00015657415426135104,0.0032003726865558104,-0.003436420381127645],"tcp_position_m":[0.07426293764930647,0.5045480260950812,0.37937773547886244],"tcp_quaternion_wxyz":[-4.585218951032892e-05,0.7071037449016109,0.7071098102879392,8.965627955455649e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,1.9585523008737883e-17,-5.483061667186026e-18,-1.6206317738248376e-07],"object_linear_velocity_m_s":[8.449605209214683e-18,2.1526235703587974e-17,1.0817202730641167e-14],"object_angular_velocity_rad_s":[-8.683188578353463e-16,7.96778495103641e-16,-4.829207741307286e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313489294666395,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828224924475433,-1.5700889617543934,1.3867367642402755,-1.4134702919973694,-1.5707735367975584,-0.4120306376109581,0.0],"actuator_force":[0.09069871239762506,-20.691657352559105,-19.51120579397184,-2.5332959811419187,0.001399191730683924,-1.4155240648960898e-05,-0.29223662322927746],"issued_joint_targets_rad":[-1.9828268905389224,-1.5588622465843882,1.3920637785889565,-1.4042452202119406,-1.5707746749727647,-0.4120305628104386],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.119999999999276,"joint_targets_rad":[-1.9828268905389224,-1.5588622465843882,1.3920637785889565,-1.4042452202119406,-1.5707746749727647,-0.4120305628104386],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.139999999999265,"qpos":[-1.9828190836417787,-1.5635737312103608,1.4385754942660829,-1.4459975913576406,-1.5707761629048342,-0.4120313514136664,0.002932975871943014,0.000155964341010748,0.003192872183025927,-0.0034283688568674496,0.0029331149333799143,0.0001565758405662502,0.00320038863558508,-0.003436415550028751,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,1.2473814372605466e-17,1.8907542886371604e-17,-1.6253283901013267e-07],"qvel":[-0.0002465559096339643,0.022503321498053702,-0.23578341052982232,0.20999473165397287,9.069883625537994e-08,4.0737691747012705e-06,-0.0001178744652630999,-4.3244014582407637e-05,-3.783464442250838e-05,0.00024878311330143104,-9.566767748464372e-05,1.0281555048963192e-05,0.00021134006158000172,0.000258632002132112,-2.3535604527039793e-17,1.5157161895981372e-17,1.0799161606491006e-14,-6.715570787467883e-16,6.701179080931323e-16,-1.9411899788892162e-08],"joint_position_rad":[-1.9828190836417787,-1.5635737312103608,1.4385754942660829,-1.4459975913576406,-1.5707761629048342,-0.4120313514136664],"joint_velocity_rad_s":[-0.0002465559096339643,0.022503321498053702,-0.23578341052982232,0.20999473165397287,9.069883625537994e-08,4.0737691747012705e-06],"linkage_position_rad":[0.002932975871943014,0.000155964341010748,0.003192872183025927,-0.0034283688568674496,0.0029331149333799143,0.0001565758405662502,0.00320038863558508,-0.003436415550028751],"tcp_position_m":[0.07426238077557236,0.5045469936567553,0.381080679851729],"tcp_quaternion_wxyz":[-4.577204982789174e-05,0.7071037382768103,0.7071098169754829,8.92007727610085e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,1.2473814372605466e-17,1.8907542886371604e-17,-1.6253283901013267e-07],"object_linear_velocity_m_s":[-2.3535604527039793e-17,1.5157161895981372e-17,1.0799161606491006e-14],"object_angular_velocity_rad_s":[-6.715568616484846e-16,6.701181268775364e-16,-1.9411899788892202e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313489081167915,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828224173797715,-1.5694276181701678,1.3816690223948027,-1.4090653267285171,-1.5707733588421116,-0.41203056482008443,0.0],"actuator_force":[0.091954887868269,-20.709102518835152,-19.49957953063131,-2.5333408508355433,0.0013929614777907773,-1.4080126476301302e-05,-0.29223682955240765],"issued_joint_targets_rad":[-1.9828268181889699,-1.5581766531487111,1.3869687599716698,-1.3998368617483021,-1.5707744957520502,-0.41203049037912115],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.139999999999265,"joint_targets_rad":[-1.9828268181889699,-1.5581766531487111,1.3869687599716698,-1.3998368617483021,-1.5707744957520502,-0.41203049037912115],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.159999999999254,"qpos":[-1.9828189842915782,-1.563062482403829,1.4336806629408514,-1.4416130063004033,-1.5707759800007526,-0.41203126962286224,0.0029329746274931565,0.00015596368177075098,0.0031928799201182373,-0.003428365932833777,0.002933113879150954,0.00015657753988563774,0.003200404898405015,-0.0034364108427166725,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999878,4.173658922080996e-18,2.0739526807098238e-17,-1.6278724994028163e-07],"qvel":[-0.00024982558913341524,0.02339157184951959,-0.23678845921119185,0.21011436112011395,1.3815118744872266e-07,4.026238809200809e-06,-0.00011787070941990674,-4.329174056678484e-05,-3.6517503614600966e-05,0.00024914497661104434,-9.560785046162782e-05,1.0483529602123059e-05,0.0002134917126229455,0.00025896482530649544,-4.1691115784292835e-17,-9.900443790927872e-18,1.077279380965616e-14,-1.2884739271562366e-15,1.5459355652995958e-15,-7.802974599554845e-08],"joint_position_rad":[-1.9828189842915782,-1.563062482403829,1.4336806629408514,-1.4416130063004033,-1.5707759800007526,-0.41203126962286224],"joint_velocity_rad_s":[-0.00024982558913341524,0.02339157184951959,-0.23678845921119185,0.21011436112011395,1.3815118744872266e-07,4.026238809200809e-06],"linkage_position_rad":[0.0029329746274931565,0.00015596368177075098,0.0031928799201182373,-0.003428365932833777,0.002933113879150954,0.00015657753988563774,0.003200404898405015,-0.0034364108427166725],"tcp_position_m":[0.07426190669852772,0.5045461478132588,0.3827834371493889],"tcp_quaternion_wxyz":[-4.567436798439365e-05,0.7071037321003675,0.7071098232210979,8.870067759142079e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999878,4.173658922080996e-18,2.0739526807098238e-17,-1.6278724994028163e-07],"object_linear_velocity_m_s":[-4.1691115784292835e-17,-9.900443790927872e-18,1.077279380965616e-14],"object_angular_velocity_rad_s":[-1.2884734270755723e-15,1.545935985445111e-15,-7.802974599554861e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313488864114278,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828223425246,-1.5687476607139192,1.3765791751655798,-1.4046569132445934,-1.5707731790294392,-0.41203049239112194,0.0],"actuator_force":[0.0932137696099744,-20.726985359988248,-19.487591866066396,-2.5333895841064304,0.0013866705378404731,-1.4008010765564904e-05,-0.29223703253279787],"issued_joint_targets_rad":[-1.982826745533765,-1.5574721544101642,1.3818512418231623,-1.3954249245548698,-1.5707743146142332,-0.41203041764370657],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.159999999999254,"joint_targets_rad":[-1.982826745533765,-1.5574721544101642,1.3818512418231623,-1.3954249245548698,-1.5707743146142332,-0.41203041764370657],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.179999999999243,"qpos":[-1.9828188867991492,-1.56253279590253,1.4287649029336487,-1.437225843634819,-1.5707757970380671,-0.41203118870368655,0.00293297351749585,0.0001559630155219747,0.003192887875301867,-0.003428363112926953,0.0029331129604949933,0.0001565792525914341,0.0032004214462572947,-0.003436406227621667,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-1.77748184358431e-18,1.9916468154047655e-17,-1.6308311506371482e-07],"qvel":[-0.0002530910537793906,0.024282210965332243,-0.23780136659326323,0.21023904098921667,1.9552477503088433e-07,3.984643668057661e-06,-0.00011786897191194249,-4.334027062613378e-05,-3.5188594883135423e-05,0.0002495129000102447,-9.554938404757924e-05,1.0687918281362989e-05,0.00021566639692899525,0.0002593039740347352,-2.402818919955915e-17,-1.4019139412323916e-18,1.1494438775662517e-14,-1.0742183459474132e-16,-9.69502767058946e-16,-8.444178660723145e-09],"joint_position_rad":[-1.9828188867991492,-1.56253279590253,1.4287649029336487,-1.437225843634819,-1.5707757970380671,-0.41203118870368655],"joint_velocity_rad_s":[-0.0002530910537793906,0.024282210965332243,-0.23780136659326323,0.21023904098921667,1.9552477503088433e-07,3.984643668057661e-06],"linkage_position_rad":[0.00293297351749585,0.0001559630155219747,0.003192887875301867,-0.003428363112926953,0.0029331129604949933,0.0001565792525914341,0.0032004214462572947,-0.003436406227621667],"tcp_position_m":[0.07426151879881368,0.5045454969090309,0.3844860059010539],"tcp_quaternion_wxyz":[-4.556091539986532e-05,0.7071037262757977,0.707109829120523,8.816024521326992e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-1.77748184358431e-18,1.9916468154047655e-17,-1.6308311506371482e-07],"object_linear_velocity_m_s":[-2.402818919955915e-17,-1.4019139412323916e-18,1.1494438775662517e-14],"object_angular_velocity_rad_s":[-1.0742215115015466e-16,-9.695027320515383e-16,-8.444178660723145e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313488643762761,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982822267210324,-1.5680490079907554,1.3714670088531031,-1.4002449200409133,-1.5707729972997615,-0.4120304196582449,0.0],"actuator_force":[0.09447559916225146,-20.745308562583887,-19.475241523785826,-2.533442301968762,0.0013803166752950347,-1.3941645988779783e-05,-0.29223723211974456],"issued_joint_targets_rad":[-1.9828266718566354,-1.5567486636554215,1.3767110034247638,-1.3910092750492227,-1.5707741314984316,-0.41203034388891396],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.179999999999243,"joint_targets_rad":[-1.9828266718566354,-1.5567486636554215,1.3767110034247638,-1.3910092750492227,-1.5707741314984316,-0.41203034388891396],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.199999999999232,"qpos":[-1.9828187907358568,-1.5619846192994544,1.4238280465041648,-1.4328359963365294,-1.570775613832428,-0.41203110847825,0.0029329725154251347,0.00015596234209534453,0.0031928960230745425,-0.003428360372040711,0.002933112150914664,0.00015658097904816195,0.0032004382560959083,-0.003436401678657286,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-1.6036663465448397e-17,1.5834218610492492e-17,-1.6350790313818898e-07],"qvel":[-0.00025635145391574607,0.025175413677663426,-0.23882239914421688,0.21036890513143053,2.6223182865243973e-07,3.951697891524597e-06,-0.00011786900170483412,-4.338962656454556e-05,-3.384732064293652e-05,0.0002498867682372058,-9.549201133122665e-05,1.0894779644353625e-05,0.00021786494555542775,0.0002596492920215396,-2.0831164324481465e-17,-2.3995499245368625e-17,1.1677625574725668e-14,-6.73039185971905e-16,-5.84146197955431e-16,-3.3942948562635234e-08],"joint_position_rad":[-1.9828187907358568,-1.5619846192994544,1.4238280465041648,-1.4328359963365294,-1.570775613832428,-0.41203110847825],"joint_velocity_rad_s":[-0.00025635145391574607,0.025175413677663426,-0.23882239914421688,0.21036890513143053,2.6223182865243973e-07,3.951697891524597e-06],"linkage_position_rad":[0.0029329725154251347,0.00015596234209534453,0.0031928960230745425,-0.003428360372040711,0.002933112150914664,0.00015658097904816195,0.0032004382560959083,-0.003436401678657286],"tcp_position_m":[0.07426122066542229,0.5045450498007524,0.3861883845949522],"tcp_quaternion_wxyz":[-4.5433293287634694e-05,0.7071037207140806,0.7071098347620987,8.758331023574937e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-1.6036663465448397e-17,1.5834218610492492e-17,-1.6350790313818898e-07],"object_linear_velocity_m_s":[-2.0831164324481465e-17,-2.3995499245368625e-17,1.1677625574725668e-14],"object_angular_velocity_rad_s":[-6.730393780718293e-16,-5.84145978949611e-16,-3.3942948562635234e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313488420318246,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828221907157222,-1.567331574044504,1.3663323030865753,-1.3958292135455646,-1.570772813591595,-0.41203034590616383,0.0],"actuator_force":[0.09574062183537535,-20.764074961164624,-19.462527177492575,-2.53349911766054,0.0013738972336341249,-1.3883746078136028e-05,-0.2922374282518096],"issued_joint_targets_rad":[-1.9828265963851206,-1.5560060892011247,1.3715478169516764,-1.3865897775225542,-1.5707739463417596,-0.41203026834366735],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.199999999999232,"joint_targets_rad":[-1.9828265963851206,-1.5560060892011247,1.3715478169516764,-1.3865897775225542,-1.5707739463417596,-0.41203026834366735],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.21999999999922,"qpos":[-1.9828186956342837,-1.5614178964640613,1.4188699202770907,-1.4284433546556639,-1.570775430211133,-0.4120310287120666,0.0029329715994974325,0.0001559616613177417,0.0031929043426483267,-0.0034283576895831986,0.0029331114286486755,0.00015658271961401584,0.0032004553095486793,-0.003436397174225489,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-1.329682555756909e-17,1.0323089986474484e-17,-1.6363660450121464e-07],"qvel":[-0.00025960586763929905,0.02607136115955619,-0.23985183073068017,0.21050408436339973,3.377572249953754e-07,3.930111547245929e-06,-0.00011787059702907351,-4.34398316016541e-05,-3.249310867584606e-05,0.0002502665225891315,-9.543551355717187e-05,1.1104175395191363e-05,0.00022008817555580528,0.0002600006735559565,-1.2613360699580046e-17,-1.4718582384209934e-17,1.1770606753038026e-14,4.0997345772774306e-16,-4.650249161614071e-16,-3.6732186972769693e-09],"joint_position_rad":[-1.9828186956342837,-1.5614178964640613,1.4188699202770907,-1.4284433546556639,-1.570775430211133,-0.4120310287120666],"joint_velocity_rad_s":[-0.00025960586763929905,0.02607136115955619,-0.23985183073068017,0.21050408436339973,3.377572249953754e-07,3.930111547245929e-06],"linkage_position_rad":[0.0029329715994974325,0.0001559616613177417,0.0031929043426483267,-0.0034283576895831986,0.0029331114286486755,0.00015658271961401584,0.0032004553095486793,-0.003436397174225489],"tcp_position_m":[0.07426101611699384,0.5045448159107854,0.38789057167650254],"tcp_quaternion_wxyz":[-4.529294897891716e-05,0.7071037153325291,0.7071098402278969,8.697333040855888e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-1.329682555756909e-17,1.0323089986474484e-17,-1.6363660450121464e-07],"object_linear_velocity_m_s":[-1.2613360699580046e-17,-1.4718582384209934e-17,1.1770606753038026e-14],"object_angular_velocity_rad_s":[4.0997330546168664e-16,-4.650250504323957e-16,-3.67321869727697e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313488193942851,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828221122637018,-1.5665952680079143,1.3611748304078748,-1.3914096580569393,-1.5707726278414929,-0.4120302703637953,0.0],"actuator_force":[0.09700908822014753,-20.7832875515287,-19.44944744615941,-2.5335601369775986,0.0013674090976110165,-1.3837019082529878e-05,-0.2922376208543742],"issued_joint_targets_rad":[-1.9828265182837073,-1.555244333990159,1.3663614470014032,-1.382166294073558,-1.570773759079046,-0.41203019017384435],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.21999999999922,"joint_targets_rad":[-1.9828265182837073,-1.555244333990159,1.3663614470014032,-1.382166294073558,-1.570773759079046,-0.41203019017384435],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.23999999999921,"qpos":[-1.9828186009846243,-1.5608325673898218,1.413890345063386,-1.424047806168109,-1.570775246011796,-0.4120309491134684,0.0029329707518107348,0.00015596097301188224,0.0031929128170856856,-0.00342835504866529,0.002933110775810827,0.00015658447464179506,0.0032004725920675428,-0.0034363926963893857,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-2.9717377260462703e-17,1.366738654510389e-17,-1.640945452571534e-07],"qvel":[-0.00026285328649212317,0.026970242205327656,-0.24088994409346923,0.21064470703612162,4.216537708204653e-07,3.922624297135993e-06,-0.00011787359700091023,-4.349091044153828e-05,-3.112540001727608e-05,0.00025065215660886766,-9.537971159617949e-05,1.131617081072595e-05,0.000222336903078834,0.00026035805764133314,-1.686447183779635e-17,-3.427411816619722e-17,1.1791423434749754e-14,5.627575879190419e-16,-3.7059245662481915e-16,-1.4765186563481027e-08],"joint_position_rad":[-1.9828186009846243,-1.5608325673898218,1.413890345063386,-1.424047806168109,-1.570775246011796,-0.4120309491134684],"joint_velocity_rad_s":[-0.00026285328649212317,0.026970242205327656,-0.24088994409346923,0.21064470703612162,4.216537708204653e-07,3.922624297135993e-06],"linkage_position_rad":[0.0029329707518107348,0.00015596097301188224,0.0031929128170856856,-0.00342835504866529,0.002933110775810827,0.00015658447464179506,0.0032004725920675428,-0.0034363926963893857],"tcp_position_m":[0.07426090922622831,0.5045448052883126,0.38959256554629584],"tcp_quaternion_wxyz":[-4.5141190685762014e-05,0.7071037100537172,0.7071098455947855,8.633342248369426e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-2.9717377260462703e-17,1.366738654510389e-17,-1.640945452571534e-07],"object_linear_velocity_m_s":[-1.686447183779635e-17,-3.427411816619722e-17,1.1791423434749754e-14],"object_angular_velocity_rad_s":[5.627574658910073e-16,-3.705926421932654e-16,-1.476518656348103e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487964763746,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828220310140217,-1.5658399937016958,1.3559943558003797,-1.386986115677832,-1.5707724399837575,-0.4120301921970105,0.0],"actuator_force":[0.09828125580224878,-20.80294950587904,-19.436000888624676,-2.5336254584736935,0.001360848642207202,-1.3804200762024266e-05,-0.2922378098380926],"issued_joint_targets_rad":[-1.9828264366454749,-1.55446329512572,1.3611516500560308,-1.3777386845385082,-1.5707735696425222,-0.4120301084739448],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.23999999999921,"joint_targets_rad":[-1.9828264366454749,-1.55446329512572,1.3611516500560308,-1.3777386845385082,-1.5707735696425222,-0.4120301084739448],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.259999999999199,"qpos":[-1.982818506230449,-1.5602285680125842,1.4088891356481779,-1.4196492358150952,-1.570775061081116,-0.41203086933228494,0.002932969957637935,0.00015596027699540376,0.0031929214325876515,-0.003428352435433652,0.0029331101776829955,0.00015658624447906932,0.003200490092228137,-0.00343638823018916,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-2.757909682032199e-17,1.5772243318127973e-17,-1.643834532481065e-07],"qvel":[-0.0002660925991446512,0.027872254678731022,-0.24193703248862033,0.21079089958214856,5.135382438734832e-07,3.932040804756056e-06,-0.00011787787495528742,-4.3542889562568326e-05,-2.974363882281219e-05,0.00025104371008370153,-9.532445909214217e-05,1.1530835098036637e-05,0.0002246119548927147,0.00026072142075360557,-3.42652616873475e-17,-5.35848033850466e-17,1.1839995692077106e-14,-6.629494570580996e-16,1.1542299287907778e-15,-5.9351416896585685e-08],"joint_position_rad":[-1.982818506230449,-1.5602285680125842,1.4088891356481779,-1.4196492358150952,-1.570775061081116,-0.41203086933228494],"joint_velocity_rad_s":[-0.0002660925991446512,0.027872254678731022,-0.24193703248862033,0.21079089958214856,5.135382438734832e-07,3.932040804756056e-06],"linkage_position_rad":[0.002932969957637935,0.00015596027699540376,0.0031929214325876515,-0.003428352435433652,0.0029331101776829955,0.00015658624447906932,0.003200490092228137,-0.00343638823018916],"tcp_position_m":[0.07426090434797526,0.5045450286796062,0.39129436455783895],"tcp_quaternion_wxyz":[-4.497920084985549e-05,0.7071037048044471,0.7071098509354574,8.566639460078276e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-2.757909682032199e-17,1.5772243318127973e-17,-1.643834532481065e-07],"object_linear_velocity_m_s":[-3.42652616873475e-17,-5.35848033850466e-17,1.1839995692077106e-14],"object_angular_velocity_rad_s":[-6.629490794576715e-16,1.1542301434728416e-15,-5.935141689658571e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487732879597,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828219460549286,-1.5650656491719295,1.3507906361516737,-1.3825584462457012,-1.5707722499501258,-0.4120301105003035,0.0],"actuator_force":[0.09955739069891933,-20.823064190182777,-19.42218599756052,-2.533695173517799,0.0013542116707867535,-1.3788089745503385e-05,-0.2922379950958094],"issued_joint_targets_rad":[-1.9828263504824226,-1.5536628633299254,1.35591817386463,-1.3733068064170864,-1.5707733779614717,-0.4120300222574341],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.259999999999199,"joint_targets_rad":[-1.9828263504824226,-1.5536628633299254,1.35591817386463,-1.3733068064170864,-1.5707733779614717,-0.4120300222574341],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.279999999999188,"qpos":[-1.9828184107637254,-1.5596058299955151,1.403866100541027,-1.4152475259317934,-1.5707748752737312,-0.41203078895772866,0.002932969204846869,0.00015595957308037607,0.003192930177902028,-0.003428349838529985,0.0029331096221346434,0.0001565880294685102,0.003200507801154325,-0.003436383763093216,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-2.2269026158469158e-17,1.5035567404111267e-17,-1.6460849581439985e-07],"qvel":[-0.00026932257261626024,0.028777607174677738,-0.24299340154154508,0.21094278702763616,6.130882285766732e-07,3.961268823148756e-06,-0.0001178833330833376,-4.359579748827433e-05,-2.834726222338554e-05,0.00025144126692488913,-9.526963686341678e-05,1.1748242019155654e-05,0.00022691418038423998,0.0002610907729686137,-1.7725544212646868e-17,-2.6747478421570613e-17,1.1953793552101182e-14,9.013785177741995e-16,-4.638183017807699e-16,-6.422857868464643e-09],"joint_position_rad":[-1.9828184107637254,-1.5596058299955151,1.403866100541027,-1.4152475259317934,-1.5707748752737312,-0.41203078895772866],"joint_velocity_rad_s":[-0.00026932257261626024,0.028777607174677738,-0.24299340154154508,0.21094278702763616,6.130882285766732e-07,3.961268823148756e-06],"linkage_position_rad":[0.002932969204846869,0.00015595957308037607,0.003192930177902028,-0.003428349838529985,0.0029331096221346434,0.0001565880294685102,0.003200507801154325,-0.003436383763093216],"tcp_position_m":[0.07426100615171835,0.5045454976092081,0.3929959670150413],"tcp_quaternion_wxyz":[-4.480804821510898e-05,0.707103699514736,0.7071098563194405,8.497477553667559e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-2.2269026158469158e-17,1.5035567404111267e-17,-1.6460849581439985e-07],"object_linear_velocity_m_s":[-1.7725544212646868e-17,-2.6747478421570613e-17,1.1953793552101182e-14],"object_angular_velocity_rad_s":[9.013783648841423e-16,-4.638185988159305e-16,-6.422857868464646e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487498365984,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828218563934727,-1.5642721261526908,1.3455634196364004,-1.3781265072586475,-1.570772057669414,-0.41203002428713503,0.0],"actuator_force":[0.10083776955207213,-20.843635184222876,-19.40800119263531,-2.533769366190654,0.0013474933357429109,-1.3791585502076487e-05,-0.2922381764993419],"issued_joint_targets_rad":[-1.982826258714195,-1.552842922310168,1.3506607567283657,-1.3688705147934028,-1.5707731839618246,-0.41202993044549213],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.279999999999188,"joint_targets_rad":[-1.982826258714195,-1.552842922310168,1.3506607567283657,-1.3688705147934028,-1.5707731839618246,-0.41202993044549213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.299999999999176,"qpos":[-1.9828183139189595,-1.5589642804752624,1.3988210416831128,-1.4108425562654818,-1.5707746884511418,-0.4120307075154119,0.002932968483423652,0.000155958861072332,0.003192939043834229,-0.0034283472486472902,0.002933109099145428,0.00015658982994762704,0.0032005257120426294,-0.0034363792845252847,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,3.0594183806731137e-19,2.2580182374803546e-17,-1.650325962233523e-07],"qvel":[-0.00027254183039556265,0.02968652095260026,-0.24405937137465225,0.21110049347458856,7.200397431129585e-07,4.013360952889903e-06,-0.00011788989818839358,-4.3649665083726816e-05,-2.6935690003070308e-05,0.00025184495399056307,-9.521514838674753e-05,1.1968470449781942e-05,0.0002292444633588263,0.0002614661554162968,-3.0376879479087474e-17,1.8792068626433096e-18,1.1684564468629585e-14,1.2398774244789544e-15,-2.170855203542126e-16,-2.581787323714565e-08],"joint_position_rad":[-1.9828183139189595,-1.5589642804752624,1.3988210416831128,-1.4108425562654818,-1.5707746884511418,-0.4120307075154119],"joint_velocity_rad_s":[-0.00027254183039556265,0.02968652095260026,-0.24405937137465225,0.21110049347458856,7.200397431129585e-07,4.013360952889903e-06],"linkage_position_rad":[0.002932968483423652,0.000155958861072332,0.003192939043834229,-0.0034283472486472902,0.002933109099145428,0.00015658982994762704,0.0032005257120426294,-0.0034363792845252847],"tcp_position_m":[0.0742612196593281,0.5045462244742083,0.39469737116939546],"tcp_quaternion_wxyz":[-4.4628698750935124e-05,0.7071036941167927,0.7071098618141134,8.426084111199533e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,3.0594183806731137e-19,2.2580182374803546e-17,-1.650325962233523e-07],"object_linear_velocity_m_s":[-3.0376879479087474e-17,1.8792068626433096e-18,1.1684564468629585e-14],"object_angular_velocity_rad_s":[1.239877351660569e-15,-2.170859295787839e-16,-2.5817873237145666e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487261279832,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828217609442214,-1.5634593094371905,1.340312445001863,-1.3736901537965582,-1.5707718630671101,-0.41202993247868075,0.0],"actuator_force":[0.10212268163468252,-20.864666304896673,-19.393444812638336,-2.5338481129970205,0.001340688041523208,-1.3817729723086813e-05,-0.2922383538955783],"issued_joint_targets_rad":[-1.9828261601548607,-1.552003348011682,1.3453791266660384,-1.3644296622515386,-1.5707729875656953,-0.4120298318538128],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.299999999999176,"joint_targets_rad":[-1.9828261601548607,-1.552003348011682,1.3453791266660384,-1.3644296622515386,-1.5707729875656953,-0.4120298318538128],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.319999999999165,"qpos":[-1.9828182149662732,-1.558303841762485,1.3937537541043388,-1.4064342039837177,-1.5707745004806979,-0.41203062446339433,0.0029329677850804567,0.00015595814076938943,0.003192948022837072,-0.003428344658172404,0.002933108600411878,0.00015659164624780552,0.0032005438197658864,-0.0034363747854852197,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,3.371157422843917e-18,2.103674654851594e-17,-1.6518098266842556e-07],"qvel":[-0.00027574882682317896,0.03059923221594034,-0.2451352790855614,0.21126414255852063,8.34185744698667e-07,4.091561341867923e-06,-0.00011789751843622754,-4.3704525943127984e-05,-2.5508314798119037e-05,0.00025225494171723364,-9.516091620259307e-05,1.2191605221434684e-05,0.0002316037348908438,0.0002618476370713135,-1.202320729389519e-16,-2.0998334252432623e-17,1.1465295421266116e-14,-1.9799439806848473e-15,7.395482435705228e-15,-1.0377974916150966e-07],"joint_position_rad":[-1.9828182149662732,-1.558303841762485,1.3937537541043388,-1.4064342039837177,-1.5707745004806979,-0.41203062446339433],"joint_velocity_rad_s":[-0.00027574882682317896,0.03059923221594034,-0.2451352790855614,0.21126414255852063,8.34185744698667e-07,4.091561341867923e-06],"linkage_position_rad":[0.0029329677850804567,0.00015595814076938943,0.003192948022837072,-0.003428344658172404,0.002933108600411878,0.00015659164624780552,0.0032005438197658864,-0.0034363747854852197],"tcp_position_m":[0.07426155028919863,0.5045472226543929,0.3963985752167995],"tcp_quaternion_wxyz":[-4.4442025534278324e-05,0.7071036885439705,0.7071098674857523,8.352663802662624e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,3.371157422843917e-18,2.103674654851594e-17,-1.6518098266842556e-07],"object_linear_velocity_m_s":[-1.202320729389519e-16,-2.0998334252432623e-17,1.1465295421266116e-14],"object_angular_velocity_rad_s":[-1.9799415418650045e-15,7.39548309050273e-15,-1.0377974916150972e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313487021663212,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982821658516027,-1.562627076136043,1.3350374407340946,-1.3692492384367423,-1.570771666064907,-0.41202983389063125,0.0],"actuator_force":[0.10341243122184096,-20.88616163349252,-19.37851510626342,-2.5339314823643235,0.0013337893210518814,-1.3869752649497968e-05,-0.2922385271014226],"issued_joint_targets_rad":[-1.9828260534973015,-1.551144007728489,1.3400730004313204,-1.3599840987847753,-1.570772788690829,-0.41202972517702263],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.319999999999165,"joint_targets_rad":[-1.9828260534973015,-1.551144007728489,1.3400730004313204,-1.3599840987847753,-1.570772788690829,-0.41202972517702263],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.339999999999154,"qpos":[-1.9828181131031912,-1.5576244309880038,1.388664025521371,-1.4020223436728219,-1.5707743112346326,-0.4120305391871269,0.0029329671029321245,0.0001559574119610035,0.0031929571086628384,-0.0034283420608939874,0.002933108119022592,0.00015659347869309052,0.003200562120541703,-0.0034363702582291605,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-3.20222402450424e-18,3.8700685058611255e-17,-1.655744839915915e-07],"qvel":[-0.0002789418167850364,0.03151599483461547,-0.24622148167563893,0.211433857886784,9.553756033109158e-07,4.199358840443492e-06,-0.00011790616096014204,-4.376041695814371e-05,-2.4064490576442264e-05,0.00025267144621200164,-9.510687908372429e-05,1.241773811957292e-05,0.00023399298764381835,0.0002622353146012331,-4.476343397536252e-17,-3.8356948710739274e-18,1.1944079100635715e-14,1.7389248588518878e-16,-6.393765872046718e-16,-1.1230777854061349e-08],"joint_position_rad":[-1.9828181131031912,-1.5576244309880038,1.388664025521371,-1.4020223436728219,-1.5707743112346326,-0.4120305391871269],"joint_velocity_rad_s":[-0.0002789418167850364,0.03151599483461547,-0.24622148167563893,0.211433857886784,9.553756033109158e-07,4.199358840443492e-06],"linkage_position_rad":[0.0029329671029321245,0.0001559574119610035,0.0031929571086628384,-0.0034283420608939874,0.002933108119022592,0.00015659347869309052,0.003200562120541703,-0.0034363702582291605],"tcp_position_m":[0.07426200390815454,0.5045485066417319,0.398099577293962],"tcp_quaternion_wxyz":[-4.4248817697352375e-05,0.7071036827296454,0.7071098734006466,8.277400537740787e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-3.20222402450424e-18,3.8700685058611255e-17,-1.655744839915915e-07],"object_linear_velocity_m_s":[-4.476343397536252e-17,-3.8356948710739274e-18,1.1944079100635715e-14],"object_angular_velocity_rad_s":[1.7389227328700478e-16,-6.393766448608813e-16,-1.1230777854061357e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486779546581,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828215477964017,-1.5617752947950079,1.329738124075667,-1.3648036111632238,-1.570771466580147,-0.4120297272176101,0.0],"actuator_force":[0.10470734029286177,-20.908125547853615,-19.363210221152258,-2.534019533879473,0.0013267896824800118,-1.3951125652056362e-05,-0.2922386958975165],"issued_joint_targets_rad":[-1.982825937294652,-1.5502647590363265,1.334742082344135,-1.3555336716975006,-1.5707725872499514,-0.41202960897015134],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.339999999999154,"joint_targets_rad":[-1.982825937294652,-1.5502647590363265,1.334742082344135,-1.3555336716975006,-1.5707725872499514,-0.41202960897015134],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.359999999999143,"qpos":[-1.982818007444848,-1.5569259596833098,1.3835516358650108,-1.3976068473268275,-1.5707741205891232,-0.4120304509931178,0.002932966431228663,0.00015595667442642907,0.0031929662960605495,-0.0034283394517678847,0.002933107649188815,0.00015659532759788,0.0032005806116497835,-0.003436365695989054,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,6.425293820644588e-18,4.0188431797898046e-17,-1.6593832170435645e-07],"qvel":[-0.00028211881961054657,0.032437083637930256,-0.24731835955986942,0.211609763462778,1.0835156479109297e-06,4.340548585332502e-06,-0.00011791581023933016,-4.381737883009931e-05,-2.260351997478742e-05,0.0002530947335070255,-9.505298988372453e-05,1.2646969040445628e-05,0.00023641329216196513,0.0002626293122515943,-6.335889618182663e-17,1.2481727269913413e-17,1.145974430614299e-14,1.0494043327774963e-15,4.1417672539621185e-16,-4.514420292788967e-08],"joint_position_rad":[-1.982818007444848,-1.5569259596833098,1.3835516358650108,-1.3976068473268275,-1.5707741205891232,-0.4120304509931178],"joint_velocity_rad_s":[-0.00028211881961054657,0.032437083637930256,-0.24731835955986942,0.211609763462778,1.0835156479109297e-06,4.340548585332502e-06],"linkage_position_rad":[0.002932966431228663,0.00015595667442642907,0.0031929662960605495,-0.0034283394517678847,0.002933107649188815,0.00015659532759788,0.0032005806116497835,-0.003436365695989054],"tcp_position_m":[0.07426258689291476,0.5045500921936599,0.3998003754743136],"tcp_quaternion_wxyz":[-4.4049788540187585e-05,0.7071036766059928,0.7071098796263202,8.200459407750827e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,6.425293820644588e-18,4.0188431797898046e-17,-1.6593832170435645e-07],"object_linear_velocity_m_s":[-6.335889618182663e-17,1.2481727269913413e-17,1.145974430614299e-14],"object_angular_velocity_rad_s":[1.0494044666044715e-15,4.14176377703532e-16,-4.514420292788971e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486534951611,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982821427332944,-1.5609038243360318,1.324414199857699,-1.360353119268679,-1.5707712645251686,-0.41202961101464497,0.0],"actuator_force":[0.10600775165221421,-20.93056276061634,-19.347528190675803,-2.5341123172037214,0.0013196804125072958,-1.4065622110592813e-05,-0.2922388600202586],"issued_joint_targets_rad":[-1.9828258099380696,-1.5493654484993846,1.3293860628865575,-1.3510782254984557,-1.5707723831499787,-0.4120294816264351],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.359999999999143,"joint_targets_rad":[-1.9828258099380696,-1.5493654484993846,1.3293860628865575,-1.3510782254984557,-1.5707723831499787,-0.4120294816264351],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.379999999999132,"qpos":[-1.98281789701223,-1.5562083332808305,1.378416356721855,-1.3931875843268902,-1.5707739284233777,-0.4120303591010951,0.002932965765132885,0.0001559559279330681,0.00319297558051079,-0.003428336826733996,0.0029331071860194563,0.00015659719326372392,0.0032005992911843272,-0.0034363610927484224,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,8.42423417431657e-18,3.093592036005697e-17,-1.661094948255957e-07],"qvel":[-0.00028527757570959617,0.03336279844811597,-0.24842632083269522,0.21179198410187658,1.2185710419367688e-06,4.5193045144412145e-06,-0.00011792646722521794,-4.387545698201044e-05,-2.1124639823783683e-05,0.00025352512538956694,-9.499921396500865e-05,1.28794076232715e-05,0.00023886581670650827,0.000263029782937275,-3.7607576426467224e-17,7.779489734919142e-18,1.13917431458847e-14,-1.4848715549621736e-16,-1.5040668005235354e-15,-4.885389669739117e-09],"joint_position_rad":[-1.98281789701223,-1.5562083332808305,1.378416356721855,-1.3931875843268902,-1.5707739284233777,-0.4120303591010951],"joint_velocity_rad_s":[-0.00028527757570959617,0.03336279844811597,-0.24842632083269522,0.21179198410187658,1.2185710419367688e-06,4.5193045144412145e-06],"linkage_position_rad":[0.002932965765132885,0.0001559559279330681,0.00319297558051079,-0.003428336826733996,0.0029331071860194563,0.00015659719326372392,0.0032005992911843272,-0.0034363610927484224],"tcp_position_m":[0.0742633062034088,0.5045519965158742,0.4015009677633285],"tcp_quaternion_wxyz":[-4.384558288995368e-05,0.7071036701026003,0.7071098862329157,8.12198843904934e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,8.42423417431657e-18,3.093592036005697e-17,-1.661094948255957e-07],"object_linear_velocity_m_s":[-3.7607576426467224e-17,7.779489734919142e-18,1.13917431458847e-14],"object_angular_velocity_rad_s":[-1.4848765547803016e-16,-1.5040667511108897e-15,-4.8853896697391215e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486287893813,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828212955110929,-1.560012512773715,1.3190653590964487,-1.3558976072476814,-1.5707710598065137,-0.41202948367497017,0.0],"actuator_force":[0.10731403255840632,-20.95347836501469,-19.33146691773436,-2.534209870583254,0.0013124513278626182,-1.4217388979886891e-05,-0.29223901915166595],"issued_joint_targets_rad":[-1.982825669629904,-1.5484459100863501,1.3240046169968644,-1.3466176017836908,-1.5707721762910507,-0.4120293413505351],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.379999999999132,"joint_targets_rad":[-1.982825669629904,-1.5484459100863501,1.3240046169968644,-1.3466176017836908,-1.5707721762910507,-0.4120293413505351],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.399999999999121,"qpos":[-1.9828177807179672,-1.5554714505148475,1.373257950670495,-1.3887644214109536,-1.57077373461871,-0.41203026263437614,0.0029329651005341956,0.00015595517223434156,0.0031929849579774316,-0.0034283341825738084,0.00293310672533139,0.0001565990759744638,0.003200618157831473,-0.0034363564430330653,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,4.277932563243904e-18,2.1682388059271256e-17,-1.6652802627275134e-07],"qvel":[-0.00028841549410354354,0.034293469084552254,-0.24954580652533478,0.21198064584504658,1.3605692360486849e-06,4.740265970538224e-06,-0.00011793814920884246,-4.393470249270585e-05,-1.9627002538617063e-05,0.00025396300925438275,-9.494552818884552e-05,1.3115175215019769e-05,0.0002413518515358957,0.0002634369108936236,-2.5022659763465172e-17,2.8730682175601693e-18,1.1225209692190926e-14,-3.9056561952996113e-16,-7.952049389778308e-16,-1.9637733512159895e-08],"joint_position_rad":[-1.9828177807179672,-1.5554714505148475,1.373257950670495,-1.3887644214109536,-1.57077373461871,-0.41203026263437614],"joint_velocity_rad_s":[-0.00028841549410354354,0.034293469084552254,-0.24954580652533478,0.21198064584504658,1.3605692360486849e-06,4.740265970538224e-06],"linkage_position_rad":[0.0029329651005341956,0.00015595517223434156,0.0031929849579774316,-0.0034283341825738084,0.00293310672533139,0.0001565990759744638,0.003200618157831473,-0.0034363564430330653],"tcp_position_m":[0.07426416947093611,0.5045542384821198,0.4032013520931345],"tcp_quaternion_wxyz":[-4.3636783803115186e-05,0.7071036631448471,0.7071098932948117,8.042120176679173e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,4.277932563243904e-18,2.1682388059271256e-17,-1.6652802627275134e-07],"object_linear_velocity_m_s":[-2.5022659763465172e-17,2.8730682175601693e-18,1.1225209692190926e-14],"object_angular_velocity_rad_s":[-3.905658852293437e-16,-7.952048087295261e-16,-1.963773351215992e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348603838505,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98282115052728,-1.5591011956430862,1.31369127728813,-1.3514369166796127,-1.5707708523239576,-0.4120293434032458,0.0],"actuator_force":[0.10862657901589046,-20.97687789029851,-19.315024154596358,-2.534312218834202,0.0013050904526608065,-1.4411031912686667e-05,-0.2922391729062908],"issued_joint_targets_rad":[-1.9828255143510523,-1.5475059632080341,1.3185974019715463,-1.342151639107014,-1.570771966565329,-0.41202918612593903],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.399999999999121,"joint_targets_rad":[-1.9828255143510523,-1.5475059632080341,1.3185974019715463,-1.342151639107014,-1.570771966565329,-0.41202918612593903],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.41999999999911,"qpos":[-1.9828176573490153,-1.554715202697774,1.3680761704861288,-1.3843372226332424,-1.5707735390576028,-0.4120301606080617,0.0029329644338907906,0.00015595440706714465,0.003192994424667829,-0.0034283315168096144,0.002933106263486887,0.00015660097598926655,0.0032006372106560027,-0.0034363517417224836,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-7.329938599753275e-19,1.8332479070899108e-17,-1.6678539696305867e-07],"qvel":[-0.00029152958842632883,0.03522946165488079,-0.25067729717819254,0.21217587637746108,1.5096054861321381e-06,5.008642699828543e-06,-0.00011795089051831381,-4.399517344234355e-05,-1.8109653799986527e-05,0.00025440885041748315,-9.489192046176795e-05,1.335440744901195e-05,0.00024387283934379026,0.0002638509152758411,-3.93872811524908e-17,-5.905954009052408e-18,1.1111411832166852e-14,-1.2822548321991898e-15,9.844238440162396e-16,-7.893752669992291e-08],"joint_position_rad":[-1.9828176573490153,-1.554715202697774,1.3680761704861288,-1.3843372226332424,-1.5707735390576028,-0.4120301606080617],"joint_velocity_rad_s":[-0.00029152958842632883,0.03522946165488079,-0.25067729717819254,0.21217587637746108,1.5096054861321381e-06,5.008642699828543e-06],"linkage_position_rad":[0.0029329644338907906,0.00015595440706714465,0.003192994424667829,-0.0034283315168096144,0.002933106263486887,0.00015660097598926655,0.0032006372106560027,-0.0034363517417224836],"tcp_position_m":[0.07426518510512235,0.5045568389008187,0.40490152631626797],"tcp_quaternion_wxyz":[-4.342391868373962e-05,0.7071036556519509,0.70710990089257,7.96097311784921e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-7.329938599753275e-19,1.8332479070899108e-17,-1.6678539696305867e-07],"object_linear_velocity_m_s":[-3.93872811524908e-17,-5.905954009052408e-18,1.1111411832166852e-14],"object_angular_velocity_rad_s":[-1.282254506718318e-15,9.844242716232274e-16,-7.893752669992301e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313485786436068,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828209903562632,-1.5581696940514722,1.3082916123117923,-1.3469708860990228,-1.5707706419693062,-0.41202918818295886,0.0],"actuator_force":[0.10994582087414528,-21.000767369348523,-19.298197477396116,-2.5344193706363285,0.0012975835996940077,-1.4651718572622485e-05,-0.29223932081398346],"issued_joint_targets_rad":[-1.9828253418208823,-1.546545410255632,1.313164054851096,-1.3376801728351053,-1.5707717538554862,-0.4120290136749566],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.41999999999911,"joint_targets_rad":[-1.9828253418208823,-1.546545410255632,1.313164054851096,-1.3376801728351053,-1.5707717538554862,-0.4120290136749566],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.439999999999099,"qpos":[-1.9828175255453522,-1.5539394728378986,1.362870758178535,-1.3799058493128236,-1.5707733416227119,-0.4120300519145623,0.002932963762093549,0.0001559536321484616,0.003193003976782442,-0.0034283288276375765,0.0029331057972510582,0.00015660289353307418,0.003200656448885259,-0.003436346983878151,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-4.625728293931908e-18,1.6380474426961444e-17,-1.6708470411551216e-07],"qvel":[-0.00029461639824024,0.03617118657374646,-0.25182132117879713,0.21237780546016644,1.6658509812525625e-06,5.330343768062281e-06,-0.00011796474416051322,-4.405693667754846e-05,-1.6571503407352907e-05,0.0002548632092112303,-9.483838985727144e-05,1.3597257611527337e-05,0.00024643041515348376,0.0002642720571846877,-1.9564147851005542e-17,-3.174834852787203e-18,1.1073941805085754e-14,-5.4177399035185253e-17,-3.953899766307337e-16,-8.542416356549294e-09],"joint_position_rad":[-1.9828175255453522,-1.5539394728378986,1.362870758178535,-1.3799058493128236,-1.5707733416227119,-0.4120300519145623],"joint_velocity_rad_s":[-0.00029461639824024,0.03617118657374646,-0.25182132117879713,0.21237780546016644,1.6658509812525625e-06,5.330343768062281e-06],"linkage_position_rad":[0.002932963762093549,0.0001559536321484616,0.003193003976782442,-0.0034283288276375765,0.0029331057972510582,0.00015660289353307418,0.003200656448885259,-0.003436346983878151],"tcp_position_m":[0.07426636242496068,0.5045598208417416,0.4066014881983815],"tcp_quaternion_wxyz":[-4.320746491615951e-05,0.7071036475345587,0.7071099091153505,7.878653012782662e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-4.625728293931908e-18,1.6380474426961444e-17,-1.6708470411551216e-07],"object_linear_velocity_m_s":[-1.9564147851005542e-17,-3.174834852787203e-18,1.1073941805085754e-14],"object_angular_velocity_rad_s":[-5.417753144227449e-17,-3.9538995860531257e-16,-8.542416356549306e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348553205944,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828208127110296,-1.5572178122341913,1.3028660018160976,-1.3424993508505958,-1.5707704286248816,-0.41202901573641865,0.0],"actuator_force":[0.1112722279412992,-21.025153422083804,-19.28098425335611,-2.534531314902779,0.0012899138170041624,-1.4945304997127096e-05,-0.29223946229714143],"issued_joint_targets_rad":[-1.9828251494475921,-1.5455640334698135,1.3077041891153443,-1.3332030349833839,-1.5707715380327647,-0.41202882140915154],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.439999999999099,"joint_targets_rad":[-1.9828251494475921,-1.5455640334698135,1.3077041891153443,-1.3332030349833839,-1.5707715380327647,-0.41202882140915154],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.459999999999088,"qpos":[-1.982817383773497,-1.5531441345525328,1.3576414438157673,-1.375470159970093,-1.5707731421957938,-0.4120299353058069,0.00293296308234552,0.00015595284717167477,0.0031930136102359266,-0.0034283261139019827,0.0029331053236622668,0.00015660482878195785,0.003200675871670079,-0.003436342164562899,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-1.123725480249482e-17,1.166992421083721e-17,-1.674576760729747e-07],"qvel":[-0.0002976718915726269,0.037119108935276576,-0.2529784655050848,0.21258656538530438,1.8295645995491391e-06,5.712138014813452e-06,-0.0001179797846614614,-4.4120070171184406e-05,-1.5011286820185933e-05,0.0002553267660495535,-9.478494741730218e-05,1.3843901256196944e-05,0.00024902645839520684,0.0002647006472911395,-1.7136779477102187e-17,-1.6927125110825603e-17,1.1083656256551225e-14,-5.705966312362481e-16,-6.419683620203912e-16,-3.43378332743732e-08],"joint_position_rad":[-1.982817383773497,-1.5531441345525328,1.3576414438157673,-1.375470159970093,-1.5707731421957938,-0.4120299353058069],"joint_velocity_rad_s":[-0.0002976718915726269,0.037119108935276576,-0.2529784655050848,0.21258656538530438,1.8295645995491391e-06,5.712138014813452e-06],"linkage_position_rad":[0.00293296308234552,0.00015595284717167477,0.0031930136102359266,-0.0034283261139019827,0.0029331053236622668,0.00015660482878195785,0.003200675871670079,-0.003436342164562899],"tcp_position_m":[0.07426771182110899,0.504563210040622,0.4083012354096606],"tcp_quaternion_wxyz":[-4.2987855095506745e-05,0.707103638691667,0.7071099180639807,7.795254052556825e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-1.123725480249482e-17,1.166992421083721e-17,-1.674576760729747e-07],"object_linear_velocity_m_s":[-1.7136779477102187e-17,-1.6927125110825603e-17,1.1083656256551225e-14],"object_angular_velocity_rad_s":[-5.705968470427169e-16,-6.419681716905102e-16,-3.4337833274373244e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348527527285,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828206149931238,-1.5562453344452007,1.2974140599158015,-1.3380221429247972,-1.570770212161579,-0.41202882347518904,0.0],"actuator_force":[0.11260631737559379,-21.05004335944659,-19.263381597897933,-2.534648015882567,0.0012820606474406304,-1.5298492570536837e-05,-0.29223959663999555],"issued_joint_targets_rad":[-1.9828249342660917,-1.5445615908979227,1.3022173904395606,-1.328720054027373,-1.5707713189544565,-0.4120286063673321],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.459999999999088,"joint_targets_rad":[-1.9828249342660917,-1.5445615908979227,1.3022173904395606,-1.328720054027373,-1.5707713189544565,-0.4120286063673321],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.479999999999077,"qpos":[-1.9828172302931861,-1.552329050712902,1.3523879440677067,-1.3710300102494735,-1.5707729406564999,-0.4120298093712706,0.002932962392050849,0.00015595205180092656,0.003193023320319212,-0.003428323375112479,0.0029331048399084832,0.00015660678184262693,0.0032006954778013427,-0.003436337278645236,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-9.300057456108479e-18,5.149327703670951e-18,-1.675878747190235e-07],"qvel":[-0.00030069134323004883,0.038073762144817364,-0.25414938979874613,0.21280229146767574,2.0011095651884403e-06,6.16185621181607e-06,-0.00011799611245601898,-4.418466611667641e-05,-1.3427513925158015e-05,0.0002558003531409102,-9.473161778026573e-05,1.4094542216463627e-05,0.0002516631634889898,0.0002651370586796813,-8.701404964796979e-18,-1.2202426875217709e-17,1.1121126283632327e-14,4.699944124259574e-16,-4.3922366398721624e-16,-3.715952106360641e-09],"joint_position_rad":[-1.9828172302931861,-1.552329050712902,1.3523879440677067,-1.3710300102494735,-1.5707729406564999,-0.4120298093712706],"joint_velocity_rad_s":[-0.00030069134323004883,0.038073762144817364,-0.25414938979874613,0.21280229146767574,2.0011095651884403e-06,6.16185621181607e-06],"linkage_position_rad":[0.002932962392050849,0.00015595205180092656,0.003193023320319212,-0.003428323375112479,0.0029331048399084832,0.00015660678184262693,0.0032006954778013427,-0.003436337278645236],"tcp_position_m":[0.07426924495935673,0.5045670354064686,0.41000076551464837],"tcp_quaternion_wxyz":[-4.276548197443076e-05,0.7071036290066088,0.70710992785497,7.710859966188054e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-9.300057456108479e-18,5.149327703670951e-18,-1.675878747190235e-07],"object_linear_velocity_m_s":[-8.701404964796979e-18,-1.2202426875217709e-17,1.1121126283632327e-14],"object_angular_velocity_rad_s":[4.699942651705416e-16,-4.3922382158703877e-16,-3.715952106360646e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313485016103448,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828203942304967,-1.555252020941247,1.2919353729492147,-1.3335390907689226,-1.5707699924363436,-0.41202860843807887,0.0],"actuator_force":[0.11394866267073667,-21.075445314617355,-19.245386317485554,-2.5347694064922734,0.0012739991216221824,-1.57190253275985e-05,-0.29223972294678524],"issued_joint_targets_rad":[-1.9828246928594646,-1.543537811084923,1.2967032111484058,-1.3242310546821432,-1.5707710964605566,-0.412028365137137],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.479999999999077,"joint_targets_rad":[-1.9828246928594646,-1.543537811084923,1.2967032111484058,-1.3242310546821432,-1.5707710964605566,-0.412028365137137],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.499999999999066,"qpos":[-1.9828170631148863,-1.5514940717312447,1.3471099603768044,-1.3665852528258122,-1.5707727368809752,-0.4120296725106707,0.0029329616887072505,0.00015595124566504715,0.003193033101267486,-0.0034283206115194283,0.002933104343201577,0.00015660875272171563,0.003200715265341707,-0.00343633232058745,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-1.3346330258694636e-17,-1.129879809429348e-17,-1.6805114305583143e-07],"qvel":[-0.000303669181748222,0.03903576614834448,-0.2553348451352535,0.21302512258982187,2.1809771368457565e-06,6.6886491242843495e-06,-0.00011801386053400765,-4.4250835510386054e-05,-1.1818397444044766e-05,0.00025628500270958384,-9.467844196135134e-05,1.4349421248075682e-05,0.0002543431371755489,0.000265581743719581,1.2208674887772258e-17,-1.6041084181021615e-17,1.0996226193361996e-14,3.338681632748443e-16,-3.02554913217271e-16,-1.4936961458912936e-08],"joint_position_rad":[-1.9828170631148863,-1.5514940717312447,1.3471099603768044,-1.3665852528258122,-1.5707727368809752,-0.4120296725106707],"joint_velocity_rad_s":[-0.000303669181748222,0.03903576614834448,-0.2553348451352535,0.21302512258982187,2.1809771368457565e-06,6.6886491242843495e-06],"linkage_position_rad":[0.0029329616887072505,0.00015595124566504715,0.003193033101267486,-0.0034283206115194283,0.002933104343201577,0.00015660875272171563,0.003200715265341707,-0.00343633232058745],"tcp_position_m":[0.07427097503920128,0.5045713296663695,0.41170007596007724],"tcp_quaternion_wxyz":[-4.2540703266351786e-05,0.707103618341687,0.7071099386258743,7.625545054127106e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-1.3346330258694636e-17,-1.129879809429348e-17,-1.6805114305583143e-07],"object_linear_velocity_m_s":[1.2208674887772258e-17,-1.6041084181021615e-17,1.0996226193361996e-14],"object_angular_velocity_rad_s":[3.338680619229673e-16,-3.0255502582981466e-16,-1.493696145891296e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931348475459371,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828201469989257,-1.5542376027069553,1.2864294939338003,-1.3290500190660965,-1.5707697692888214,-0.41202836721272773,0.0],"actuator_force":[0.11529990462031492,-21.101368410759278,-19.226994831906723,-2.534895379124464,0.001265698363113188,-1.6215940945585317e-05,-0.2922398400829646],"issued_joint_targets_rad":[-1.9828244212585489,-1.5424923859685984,1.2911611628259494,-1.319735857639286,-1.5707708703692387,-0.41202809375478666],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.499999999999066,"joint_targets_rad":[-1.9828244212585489,-1.5424923859685984,1.2911611628259494,-1.319735857639286,-1.5707708703692387,-0.41202809375478666],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.519999999999055,"qpos":[-1.9828168799447627,-1.5506390333614823,1.3418071766228594,-1.3621357372907759,-1.5707725307401714,-0.41202952289977396,0.0029329609697946154,0.00015595042834864908,0.0031930429456709436,-0.0034283178242663663,0.002933103830639565,0.00015661074128015307,0.0032007352311238997,-0.003436327284162385,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-8.479987863887273e-18,-1.799861348648841e-17,-1.683434121380733e-07],"qvel":[-0.0003065987956187027,0.04000585228411892,-0.2565356995574814,0.21325520182347138,2.3698205136980576e-06,7.303321021857481e-06,-0.00011803320422608511,-4.4318714295739946e-05,-1.0181753191360377e-05,0.0002567820128847282,-9.46254816967575e-05,1.460882792450309e-05,0.00025706953578708756,0.00026603526044257384,3.702720121759823e-17,-7.507500623656221e-18,1.0962919502623241e-14,4.194856123501603e-16,-1.8562789508208315e-15,-6.004189807589484e-08],"joint_position_rad":[-1.9828168799447627,-1.5506390333614823,1.3418071766228594,-1.3621357372907759,-1.5707725307401714,-0.41202952289977396],"joint_velocity_rad_s":[-0.0003065987956187027,0.04000585228411892,-0.2565356995574814,0.21325520182347138,2.3698205136980576e-06,7.303321021857481e-06],"linkage_position_rad":[0.0029329609697946154,0.00015595042834864908,0.0031930429456709436,-0.0034283178242663663,0.002933103830639565,0.00015661074128015307,0.0032007352311238997,-0.003436327284162385],"tcp_position_m":[0.07427291712753947,0.5045761301977902,0.413399164060201],"tcp_quaternion_wxyz":[-4.231384649900897e-05,0.7071036065308028,0.7071099505426662,7.539375194987365e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-8.479987863887273e-18,-1.799861348648841e-17,-1.683434121380733e-07],"object_linear_velocity_m_s":[3.702720121759823e-17,-7.507500623656221e-18,1.0962919502623241e-14],"object_angular_velocity_rad_s":[4.1948498952681397e-16,-1.8562790930743176e-15,-6.004189807589495e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313484490809606,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828198693215389,-1.5532017743939326,1.2808959351782414,-1.3245547484716185,-1.5707695425368327,-0.4120280958353574,0.0],"actuator_force":[0.11666076469555264,-21.12782297854801,-19.20820306624364,-2.535025772768563,0.0012571196181170308,-1.6799893899133167e-05,-0.29223994659209485],"issued_joint_targets_rad":[-1.9828241148120436,-1.541424961166594,1.285590706251168,-1.3152342792459204,-1.570770640470599,-0.4120277875754062],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.519999999999055,"joint_targets_rad":[-1.9828241148120436,-1.541424961166594,1.285590706251168,-1.3152342792459204,-1.570770640470599,-0.4120277875754062],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.539999999999043,"qpos":[-1.9828166781204335,-1.5497637537940598,1.3364792560827008,-1.3576813173603748,-1.5707723220967935,-0.4120293584471922,0.002932960233716063,0.00015594960425002803,0.003193052900405334,-0.00342831498227088,0.002933103294896953,0.00015661273803353453,0.003200755333260919,-0.0034363221651541004,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-5.286345989100282e-18,-1.897475200221425e-17,-1.6857107279951398e-07],"qvel":[-0.0003094728238618532,0.04098489314994428,-0.2577529765058547,0.21349271182286894,2.568062239255147e-06,8.018769706032968e-06,-0.0001180547491047655,-4.4389354907049866e-05,-8.52088416254663e-06,0.00025729232127767157,-9.457297011861186e-05,1.4873937162995109e-05,0.00025985002346653736,0.0002664998259380676,2.0934216978555155e-17,-6.425037988976799e-18,1.0846346085037599e-14,2.840200772025339e-16,6.909458672173309e-16,-6.497579967910105e-09],"joint_position_rad":[-1.9828166781204335,-1.5497637537940598,1.3364792560827008,-1.3576813173603748,-1.5707723220967935,-0.4120293584471922],"joint_velocity_rad_s":[-0.0003094728238618532,0.04098489314994428,-0.2577529765058547,0.21349271182286894,2.568062239255147e-06,8.018769706032968e-06],"linkage_position_rad":[0.002932960233716063,0.00015594960425002803,0.003193052900405334,-0.00342831498227088,0.002933103294896953,0.00015661273803353453,0.003200755333260919,-0.0034363221651541004],"tcp_position_m":[0.07427508935668097,0.5045814818507655,0.4150980277006222],"tcp_quaternion_wxyz":[-4.208654959004963e-05,0.707103593371766,0.7071099638069813,7.452749629112919e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-5.286345989100282e-18,-1.897475200221425e-17,-1.6857107279951398e-07],"object_linear_velocity_m_s":[2.0934216978555155e-17,-6.425037988976799e-18,1.0846346085037599e-14],"object_angular_velocity_rad_s":[2.840203103960703e-16,6.909457713934577e-16,-6.497579967910117e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313484224587523,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828195565384894,-1.5521441846736488,1.275334158214373,-1.3200530953149323,-1.5707693119701025,-0.4120277896610856,0.0],"actuator_force":[0.11803229343286148,-21.154819019156093,-19.189005134314357,-2.535160159565635,0.00124825712157417,-1.7483917304161878e-05,-0.2922400378345339],"issued_joint_targets_rad":[-1.982823768018406,-1.5403351215839605,1.2799912346425388,-1.310726129220129,-1.5707704065163464,-0.4120274411052979],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.539999999999043,"joint_targets_rad":[-1.982823768018406,-1.5403351215839605,1.2799912346425388,-1.310726129220129,-1.5707704065163464,-0.4120274411052979],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.559999999999032,"qpos":[-1.982816454515821,-1.5488680297436466,1.331125837171855,-1.3532218583906683,-1.5707721108024155,-0.41202917673941747,0.0029329594782227944,0.00015594878361145458,0.003193063077526216,-0.0034283120124079954,0.002933102721421384,0.0001566147218912412,0.0032007754789210936,-0.00343631696048473,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-4.586521427752358e-18,-3.0812270481874734e-18,-1.6900010709826777e-07],"qvel":[-0.0003122828753784247,0.04197395475421343,-0.2589879184172326,0.21373792375042433,2.7759186887539677e-06,8.850556188058346e-06,-0.00011807962853015019,-4.446490726705007e-05,-6.84598707684696e-06,0.0002578158875987541,-9.452127623846587e-05,1.5147098435941617e-05,0.0002626982801092709,0.0002669796341101749,2.2885104774352883e-18,-9.78836748170366e-19,1.0781120482340868e-14,2.747463437454185e-17,1.0215035638617793e-15,-2.6118232630271277e-08],"joint_position_rad":[-1.982816454515821,-1.5488680297436466,1.331125837171855,-1.3532218583906683,-1.5707721108024155,-0.41202917673941747],"joint_velocity_rad_s":[-0.0003122828753784247,0.04197395475421343,-0.2589879184172326,0.21373792375042433,2.7759186887539677e-06,8.850556188058346e-06],"linkage_position_rad":[0.0029329594782227944,0.00015594878361145458,0.003193063077526216,-0.0034283120124079954,0.002933102721421384,0.0001566147218912412,0.0032007754789210936,-0.00343631696048473],"tcp_position_m":[0.07427751432348767,0.5045874402682091,0.41679666615602035],"tcp_quaternion_wxyz":[-4.1863196016431983e-05,0.7071035786118306,0.7071099786701426,7.366766909493152e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-4.586521427752358e-18,-3.0812270481874734e-18,-1.6900010709826777e-07],"object_linear_velocity_m_s":[2.2885104774352883e-18,-9.78836748170366e-19,1.0781120482340868e-14],"object_angular_velocity_rad_s":[2.7474979803916092e-17,1.0215035543357068e-15,-2.611823263027133e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313483955507272,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828192031383185,-1.5510644219309127,1.2697435570392777,-1.315544869339106,-1.570769077339945,-0.4120274431961893,0.0],"actuator_force":[0.11941590515607459,-21.182366276217635,-19.169392898261776,-2.535297849261269,0.0012391393663619965,-1.8284004681845545e-05,-0.2922401054583658],"issued_joint_targets_rad":[-1.9828233742968153,-1.539222373133421,1.274362052563265,-1.3062112079287964,-1.5707701682069806,-0.41202704777339816],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.559999999999032,"joint_targets_rad":[-1.9828233742968153,-1.539222373133421,1.274362052563265,-1.3062112079287964,-1.5707701682069806,-0.41202704777339816],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.579999999999021,"qpos":[-1.982816205365649,-1.5479516314210526,1.3257465276565017,-1.3487571971546393,-1.5707718966997548,-0.4120289749695025,0.002932958691779923,0.00015594795152577777,0.003193073290561857,-0.003428309010533397,0.0029331021129157535,0.00015661671812181255,0.0032007957551344803,-0.0034363116469286804,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,-1.6900663304044383e-18,3.290843398535229e-18,-1.6915021983822907e-07],"qvel":[-0.0003150156891937709,0.042974392821036406,-0.26024204541282814,0.21399102302909667,2.996299479672911e-06,9.817676565914645e-06,-0.00011810715125156341,-4.454302854341216e-05,-5.1356433542894065e-06,0.0002583563824648456,-9.446998717613812e-05,1.542666446823841e-05,0.00026561053883541563,0.0002674713078743136,-8.74055599199694e-18,4.1737423809954794e-17,1.0826917182106659e-14,2.6958052297991288e-15,1.5422662713749702e-15,-1.0498709967373073e-07],"joint_position_rad":[-1.982816205365649,-1.5479516314210526,1.3257465276565017,-1.3487571971546393,-1.5707718966997548,-0.4120289749695025],"joint_velocity_rad_s":[-0.0003150156891937709,0.042974392821036406,-0.26024204541282814,0.21399102302909667,2.996299479672911e-06,9.817676565914645e-06],"linkage_position_rad":[0.002932958691779923,0.00015594795152577777,0.003193073290561857,-0.003428309010533397,0.0029331021129157535,0.00015661671812181255,0.0032007957551344803,-0.0034363116469286804],"tcp_position_m":[0.07428021577554558,0.5045940645177405,0.41849507630802796],"tcp_quaternion_wxyz":[-4.1643716502856166e-05,0.7071035619122106,0.7071099954710045,7.281387730960399e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,-1.6900663304044383e-18,3.290843398535229e-18,-1.6915021983822907e-07],"object_linear_velocity_m_s":[-8.74055599199694e-18,4.1737423809954794e-17,1.0826917182106659e-14],"object_angular_velocity_rad_s":[2.695805750857345e-15,1.5422653590279202e-15,-1.0498709967373095e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313483684612332,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828188025306843,-1.5499619960417563,1.2641234370594894,-1.3110298708480865,-1.570768838346493,-0.4120270498696098,0.0],"actuator_force":[0.12081194560687436,-21.210486369821865,-19.149363028893276,-2.535439149633362,0.0012295466827936252,-1.9217710217844797e-05,-0.2922401545426453],"issued_joint_targets_rad":[-1.9828213281819922,-1.538895829499968,1.2734250260859201,-1.3055793883154077,-1.5707721004271842,-0.41202500635607525],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.579999999999021,"joint_targets_rad":[-1.9828213281819922,-1.538895829499968,1.2734250260859201,-1.3055793883154077,-1.5707721004271842,-0.41202500635607525],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.59999999999901,"qpos":[-1.9828188555966297,-1.5471134417323782,1.3207201840437803,-1.344636577200356,-1.5707720264302099,-0.4120286031405923,0.0029310052210382255,0.00015566426004813512,0.0031918987356410506,-0.0034252104951056988,0.0029312603702730373,0.00015655452662508606,0.0032007494456044797,-0.00343315444812253,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999867,7.21744015720407e-18,7.449157794837309e-18,-1.695482990682403e-07],"qvel":[-0.00015344386958462275,0.039820388323056136,-0.23982703566457825,0.19631263307882066,-2.754112168992938e-06,1.819118598245625e-05,-0.00010572494786764138,-7.07309182061333e-06,-7.549404283277456e-05,0.00013489624954927886,-0.00010355800420264374,-1.9568843364653897e-06,-4.9160786158521e-05,0.00013828508764484194,-6.2948489225755884e-18,8.465991940139495e-18,1.0831080518449004e-14,-7.267561239335304e-18,8.175759772069838e-17,-1.1361434224927334e-08],"joint_position_rad":[-1.9828188555966297,-1.5471134417323782,1.3207201840437803,-1.344636577200356,-1.5707720264302099,-0.4120286031405923],"joint_velocity_rad_s":[-0.00015344386958462275,0.039820388323056136,-0.23982703566457825,0.19631263307882066,-2.754112168992938e-06,1.819118598245625e-05],"linkage_position_rad":[0.0029310052210382255,0.00015566426004813512,0.0031918987356410506,-0.0034252104951056988,0.0029312603702730373,0.00015655452662508606,0.0032007494456044797,-0.00343315444812253],"tcp_position_m":[0.07428488477461467,0.5046014081750954,0.4200941761693726],"tcp_quaternion_wxyz":[-5.390000617660541e-05,0.707104627705449,0.7071089249177974,0.00010427810746623713],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999867,7.21744015720407e-18,7.449157794837309e-18,-1.695482990682403e-07],"object_linear_velocity_m_s":[-6.2948489225755884e-18,8.465991940139495e-18,1.0831080518449004e-14],"object_angular_velocity_rad_s":[-7.267533684877848e-18,8.175760034910012e-17,-1.1361434224927357e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313471375431688,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828174523811901,-1.5496422445553226,1.2631945864240925,-1.3103995441242828,-1.5707707709021401,-0.412025008013803,0.0],"actuator_force":[0.06418397871266279,-20.985760975111134,-19.120380973544343,-2.512746769845421,0.0009031752517785208,-2.155520357405294e-05,-0.29206686480521166],"issued_joint_targets_rad":[-1.9828191989229496,-1.53870766919513,1.273169052435334,-1.3054887725782371,-1.570774193053007,-0.4120228825305387],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.59999999999901,"joint_targets_rad":[-1.9828191989229496,-1.53870766919513,1.273169052435334,-1.3054887725782371,-1.570774193053007,-0.4120228825305387],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.619999999999,"qpos":[-1.9828203135426419,-1.5463424017499816,1.316145352409735,-1.3409013174076936,-1.570772263798608,-0.41202806455314217,0.002929226775933701,0.00015566804666794325,0.003190241708800855,-0.003423443321179596,0.002929466011128405,0.00015650610297529528,0.0031989141960633224,-0.0034313368959555876,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-3.7298017948889015e-19,9.481597237936034e-18,-1.699163695880061e-07],"qvel":[-9.562582079797396e-05,0.03690434668269994,-0.21797853252159677,0.17797063128091029,-9.330983258146483e-06,2.6169906135830147e-05,-7.882860905714742e-05,1.6607072767637215e-06,-7.15261790253171e-05,7.439701284290168e-05,-7.947313426534863e-05,-4.043391783014216e-07,-8.420290781475973e-05,7.034497062126221e-05,-1.3890522262641415e-17,-1.0719765140559281e-17,1.1375089800515328e-14,-8.587946367835641e-16,8.628008871173614e-17,-4.566940054073963e-08],"joint_position_rad":[-1.9828203135426419,-1.5463424017499816,1.316145352409735,-1.3409013174076936,-1.570772263798608,-0.41202806455314217],"joint_velocity_rad_s":[-9.562582079797396e-05,0.03690434668269994,-0.21797853252159677,0.17797063128091029,-9.330983258146483e-06,2.6169906135830147e-05],"linkage_position_rad":[0.002929226775933701,0.00015566804666794325,0.003190241708800855,-0.003423443321179596,0.002929466011128405,0.00015650610297529528,0.0031989141960633224,-0.0034313368959555876],"tcp_position_m":[0.07428874659616322,0.5046083012397069,0.4215455449847103],"tcp_quaternion_wxyz":[-6.628819904515262e-05,0.7071053300636732,0.70710821607711,0.00013622651997142226],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-3.7298017948889015e-19,9.481597237936034e-18,-1.699163695880061e-07],"object_linear_velocity_m_s":[-1.3890522262641415e-17,-1.0719765140559281e-17,1.1375089800515328e-14],"object_angular_velocity_rad_s":[-8.587946083287534e-16,8.628038052419755e-17,-4.566940054073963e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313486457737737,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982816023506666,-1.5494600722738505,1.2629461523629557,-1.3103104402279075,-1.5707728642031726,-0.41202288374721013,0.0],"actuator_force":[0.04683040027020979,-20.99707972081751,-19.20698708492,-2.5016245381980298,0.0006328960433847897,-2.6587647568021566e-05,-0.29214313063649283],"issued_joint_targets_rad":[-1.9828172378829434,-1.5385506818293864,1.2729538052253384,-1.3054096642206745,-1.5707761210266609,-0.41202092611073443],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.619999999999,"joint_targets_rad":[-1.9828172378829434,-1.5385506818293864,1.2729538052253384,-1.3054096642206745,-1.5707761210266609,-0.41202092611073443],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.639999999998988,"qpos":[-1.9828212115496027,-1.5456275134299786,1.3119896683629637,-1.3375150780719682,-1.5707726355375458,-0.41202738950938667,0.002927959747945276,0.00015572635676605042,0.0031889179166151526,-0.003422392464737447,0.002928174878445604,0.00015648693146914298,0.003197208661336216,-0.0034303382223938614,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-3.335691628786119e-18,7.11485070473196e-18,-1.7008953409925396e-07],"qvel":[-7.189752995830498e-05,0.03424239575101895,-0.19798721143941903,0.1613506690786028,-1.6864855192317667e-05,3.2639282343619835e-05,-5.463282063110873e-05,2.0862710469800447e-06,-5.152521558296172e-05,4.9165352246286495e-05,-5.512248706538924e-05,5.989681846757745e-08,-6.541746285883636e-05,4.3196683060463285e-05,-8.36117077583485e-18,-4.224824654959179e-18,1.1672074459602556e-14,-4.107537535977652e-17,-3.3435029721927206e-16,-4.942225206219707e-09],"joint_position_rad":[-1.9828212115496027,-1.5456275134299786,1.3119896683629637,-1.3375150780719682,-1.5707726355375458,-0.41202738950938667],"joint_velocity_rad_s":[-7.189752995830498e-05,0.03424239575101895,-0.19798721143941903,0.1613506690786028,-1.6864855192317667e-05,3.2639282343619835e-05],"linkage_position_rad":[0.002927959747945276,0.00015572635676605042,0.0031889179166151526,-0.003422392464737447,0.002928174878445604,0.00015648693146914298,0.003197208661336216,-0.0034303382223938614],"tcp_position_m":[0.07429236087956867,0.5046152301367876,0.42285614831924156],"tcp_quaternion_wxyz":[-7.606503840172588e-05,0.7071058828388906,0.7071076569547777,0.00016169312496144394],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-3.335691628786119e-18,7.11485070473196e-18,-1.7008953409925396e-07],"object_linear_velocity_m_s":[-8.36117077583485e-18,-4.224824654959179e-18,1.1672074459602556e-14],"object_angular_velocity_rad_s":[-4.10754891690731e-17,-3.343502832792413e-16,-4.942225206219707e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313503266083879,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828146427185187,-1.5493089400355284,1.2627378735925365,-1.3102325848231688,-1.570774793298541,-0.41202092696485226,0.0],"actuator_force":[0.04189667415130316,-21.059811511507178,-19.308704965087145,-2.4938202834605363,0.0006076050216279327,-3.265596714641106e-05,-0.2922579547810615],"issued_joint_targets_rad":[-1.982815434467612,-1.5384200291107653,1.2727732055413679,-1.305340669068179,-1.570777894486692,-0.4120191264063893],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.639999999998988,"joint_targets_rad":[-1.982815434467612,-1.5384200291107653,1.2727732055413679,-1.305340669068179,-1.570777894486692,-0.4120191264063893],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.659999999998977,"qpos":[-1.9828218333635916,-1.544965267089306,1.3082165654557023,-1.3344453381772947,-1.5707731381997818,-0.4120266059337047,0.002927118044140859,0.00015578234191563302,0.0031879991930843735,-0.0034217403165222957,0.002927312805185184,0.00015647259162456786,0.0031959283498522294,-0.0034297537653213113,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,1.0769627871212564e-17,-6.265537078037689e-19,-1.7051293464814785e-07],"qvel":[-5.422737157303616e-05,0.031712445074061645,-0.17975606334958016,0.1462727332213744,-2.3379760812779714e-05,3.777281965246187e-05,-3.529643346561901e-05,1.9729218319363283e-06,-3.352864186860807e-05,3.0592955095713056e-05,-3.575650757856086e-05,2.1011391593405532e-08,-4.659491673202406e-05,2.5197042048356892e-05,6.772519666422699e-19,1.2994179718552357e-17,1.1755341186449444e-14,3.6652546183651295e-16,-5.413097283786755e-16,-1.9866194534693055e-08],"joint_position_rad":[-1.9828218333635916,-1.544965267089306,1.3082165654557023,-1.3344453381772947,-1.5707731381997818,-0.4120266059337047],"joint_velocity_rad_s":[-5.422737157303616e-05,0.031712445074061645,-0.17975606334958016,0.1462727332213744,-2.3379760812779714e-05,3.777281965246187e-05],"linkage_position_rad":[0.002927118044140859,0.00015578234191563302,0.0031879991930843735,-0.0034217403165222957,0.002927312805185184,0.00015647259162456786,0.0031959283498522294,-0.0034297537653213113],"tcp_position_m":[0.07429587945658345,0.5046221958055186,0.4240389705012072],"tcp_quaternion_wxyz":[-8.332983889846572e-05,0.7071063768435031,0.707107157472554,0.00018092671424482744],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,1.0769627871212564e-17,-6.265537078037689e-19,-1.7051293464814785e-07],"object_linear_velocity_m_s":[6.772519666422699e-19,1.2994179718552357e-17,1.1755341186449444e-14],"object_angular_velocity_rad_s":[3.6652527726076553e-16,-5.413098529454054e-16,-1.9866194534693058e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313516350303713,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828133143097457,-1.5491839998207109,1.2625636967108191,-1.310164610899727,-1.57077656832763,-0.41201912696813264,0.0],"actuator_force":[0.03872905632124457,-21.12244349243474,-19.40331214993421,-2.4869096833535878,0.0006229121572687291,-3.7799179210651346e-05,-0.29236627776108126],"issued_joint_targets_rad":[-1.9828137783940687,-1.5383112059293262,1.272621580524039,-1.3052804764924433,-1.5707795233877793,-0.4120174732231415],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.659999999998977,"joint_targets_rad":[-1.9828137783940687,-1.5383112059293262,1.272621580524039,-1.3052804764924433,-1.5707795233877793,-0.4120174732231415],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.679999999998966,"qpos":[-1.982822227614255,-1.5443529778612097,1.3047920361504888,-1.3316627201389433,-1.5707737486362132,-0.4120257382971501,0.0029266097282111482,0.00015583322825540763,0.0031874147096308506,-0.003421391911664334,0.0029267861254088914,0.00015645942612563138,0.0031950136059492582,-0.003429468233294306,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,2.437695292749792e-17,2.7311407147081806e-18,-1.7077329953180468e-07],"qvel":[-3.8816520889719415e-05,0.02930981703929504,-0.16314772099477481,0.13259321253260997,-2.8641061231713028e-05,4.1741851804559354e-05,-2.0311125238892925e-05,1.82191081191012e-06,-1.936407521732006e-05,1.631098942727709e-05,-2.0758094045037874e-05,-4.2172749360044595e-08,-3.146133790222338e-05,1.1601999789879576e-05,-1.770807581634835e-17,9.762165107421385e-17,1.158186883885176e-14,6.050845540110191e-15,1.7563578371309145e-15,-7.985586832301164e-08],"joint_position_rad":[-1.982822227614255,-1.5443529778612097,1.3047920361504888,-1.3316627201389433,-1.5707737486362132,-0.4120257382971501],"joint_velocity_rad_s":[-3.8816520889719415e-05,0.02930981703929504,-0.16314772099477481,0.13259321253260997,-2.8641061231713028e-05,4.1741851804559354e-05],"linkage_position_rad":[0.0029266097282111482,0.00015583322825540763,0.0031874147096308506,-0.003421391911664334,0.0029267861254088914,0.00015645942612563138,0.0031950136059492582,-0.003429468233294306],"tcp_position_m":[0.07429928247378073,0.5046291078584257,0.4251064175895336],"tcp_quaternion_wxyz":[-8.844812249528078e-05,0.7071068207550844,0.7071067092457697,0.0001948286028572928],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,2.437695292749792e-17,2.7311407147081806e-18,-1.7077329953180468e-07],"object_linear_velocity_m_s":[-1.770807581634835e-17,9.762165107421385e-17,1.158186883885176e-14],"object_angular_velocity_rad_s":[6.050846139551692e-15,1.7563557743783823e-15,-7.985586832301165e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313526005710208,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828120464533527,-1.5490806974694256,1.2624179794899946,-1.3101052454280215,-1.570778199168794,-0.4120174735509377,0.0],"actuator_force":[0.03588893016058137,-21.17936603215003,-19.489024923077977,-2.480583897800102,0.0006388398328454059,-4.181207427222944e-05,-0.29246444658458237],"issued_joint_targets_rad":[-1.9828122596508608,-1.538220451222686,1.2724941472399576,-1.305227932005109,-1.5707810174780756,-0.4120159566526603],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.679999999998966,"joint_targets_rad":[-1.9828122596508608,-1.538220451222686,1.2724941472399576,-1.305227932005109,-1.5707810174780756,-0.4120159566526603],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.699999999998955,"qpos":[-1.982822415900044,-1.5437879271350172,1.3016848415613151,-1.3291405590251135,-1.5707744438602063,-0.41202480780095946,0.002926357318069266,0.00015587911691381767,0.003187089544986341,-0.003421273885556387,0.002926517067517349,0.00015644706211688888,0.0031943881659419553,-0.0034294074782666674,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,3.8157097959840425e-17,7.670048243810024e-18,-1.71076088757078e-07],"qvel":[-2.5170670678671763e-05,0.0270397220920134,-0.1480283183877725,0.12018368997733218,-3.277118278193042e-05,4.4703116102467696e-05,-8.867255527836273e-06,1.6720470185819562e-06,-8.529235036966255e-06,5.477068186590229e-06,-9.29760128257202e-06,-9.481690113983298e-08,-1.9690143210396456e-05,1.3655264971402765e-06,-8.35186733472744e-18,4.253509509653828e-17,1.1895506843308369e-14,-6.16111740493391e-16,-8.745632515834052e-17,-8.6417969278684e-09],"joint_position_rad":[-1.982822415900044,-1.5437879271350172,1.3016848415613151,-1.3291405590251135,-1.5707744438602063,-0.41202480780095946],"joint_velocity_rad_s":[-2.5170670678671763e-05,0.0270397220920134,-0.1480283183877725,0.12018368997733218,-3.277118278193042e-05,4.4703116102467696e-05],"linkage_position_rad":[0.002926357318069266,0.00015587911691381767,0.003187089544986341,-0.003421273885556387,0.002926517067517349,0.00015644706211688888,0.0031943881659419553,-0.0034294074782666674],"tcp_position_m":[0.07430254025332834,0.5046358865418015,0.4260697611555313],"tcp_quaternion_wxyz":[-9.176896456954917e-05,0.7071072147371964,0.707106312179141,0.0002042583570606082],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,3.8157097959840425e-17,7.670048243810024e-18,-1.71076088757078e-07],"object_linear_velocity_m_s":[-8.35186733472744e-18,4.253509509653828e-17,1.1895506843308369e-14],"object_angular_velocity_rad_s":[-6.161117705492933e-16,-8.745611369487003e-17,-8.641796927868403e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313532912211026,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828108449128354,-1.548995233286074,1.262295970726326,-1.310053367057104,-1.5707796954927793,-0.4120159567946459,0.0],"actuator_force":[0.03321024268871042,-21.2305011389185,-19.566414314869235,-2.474773013728395,0.0006513019917520069,-4.480845348098228e-05,-0.2925528949952787],"issued_joint_targets_rad":[-1.9828108685251538,-1.5381446579868097,1.2723869129427718,-1.305182026008664,-1.5707823862361363,-0.4120145670813056],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.699999999998955,"joint_targets_rad":[-1.9828108685251538,-1.5381446579868097,1.2723869129427718,-1.305182026008664,-1.5707823862361363,-0.4120145670813056],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.719999999998944,"qpos":[-1.9828224181296688,-1.5432673303863889,1.2988663648437146,-1.3268546401704033,-1.5707752036705955,-0.41202383269337184,0.0029262985723500514,0.0001559204506137686,0.0031869619577928584,-0.0034213281066082,0.0029264432291587323,0.00015643544624493411,0.0031939877825769374,-0.0034295137633924243,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,2.4265277712054388e-17,-9.286628585805416e-18,-1.7145339978731237e-07],"qvel":[-1.317119400291035e-05,0.0249052313534959,-0.13427262425673622,0.10892760417396419,-3.5920202079942225e-05,4.679734861563748e-05,-2.4969815065946616e-07,1.5316749148691589e-06,-3.690614237884479e-07,-2.628877791271815e-06,-6.606551986659609e-07,-1.3369332350518944e-07,-1.0647473056076013e-05,-6.226349823857048e-06,1.9934559866717667e-17,3.091441907453613e-17,1.1690115583752715e-14,-1.3863371905246285e-15,-1.4957779438474906e-15,-3.4737311986975865e-08],"joint_position_rad":[-1.9828224181296688,-1.5432673303863889,1.2988663648437146,-1.3268546401704033,-1.5707752036705955,-0.41202383269337184],"joint_velocity_rad_s":[-1.317119400291035e-05,0.0249052313534959,-0.13427262425673622,0.10892760417396419,-3.5920202079942225e-05,4.679734861563748e-05],"linkage_position_rad":[0.0029262985723500514,0.0001559204506137686,0.0031869619577928584,-0.0034213281066082,0.0029264432291587323,0.00015643544624493411,0.0031939877825769374,-0.0034295137633924243],"tcp_position_m":[0.07430563132483808,0.5046424711770063,0.4269391760592058],"tcp_quaternion_wxyz":[-9.359679112165059e-05,0.7071075593375985,0.7071059656669548,0.0002099653960046059],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,2.4265277712054388e-17,-9.286628585805416e-18,-1.7145339978731237e-07],"object_linear_velocity_m_s":[1.9934559866717667e-17,3.091441907453613e-17,1.1690115583752715e-14],"object_angular_velocity_rad_s":[-1.38633770279179e-15,-1.4957774667771333e-15,-3.473731198697588e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313537661211557,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828097129454774,-1.5489244745105517,1.2621937094393845,-1.310007994067891,-1.570781066709814,-0.41201456707703016,0.0],"actuator_force":[0.030678845983857173,-21.276380789724044,-19.636261105965787,-2.469437366140255,0.0006605005987694312,-4.692669071459932e-05,-0.29263253830869257],"issued_joint_targets_rad":[-1.9828095956728766,-1.5380812625141296,1.2722965502019377,-1.3051418793148946,-1.5707836387951593,-0.41201329525662017],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.719999999998944,"joint_targets_rad":[-1.9828095956728766,-1.5380812625141296,1.2722965502019377,-1.3051418793148946,-1.5707836387951593,-0.41201329525662017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.739999999998933,"qpos":[-1.9828222546841232,-1.5427883884680504,1.2963104272572497,-1.3247829756200653,-1.5707760106694846,-0.4120228285841851,0.0029263840217874293,0.0001559576871155214,0.0031869826608243385,-0.0034215086830849274,0.0029265149973719306,0.00015642457124724168,0.003193760735097513,-0.0034297416454504167,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,1.311317116535266e-17,-1.2116388184703007e-17,-1.7158511313544194e-07],"qvel":[-2.724999506189932e-06,0.02290661088923616,-0.12176438586642549,0.09871894872563212,-3.822645456348801e-05,4.815017273108115e-05,6.125735154994473e-06,1.4013626750968744e-06,5.668077288971428e-06,-8.576179700143123e-06,5.736018631240926e-06,-1.6082103295824553e-07,-3.783099222879493e-06,-1.1731639568906626e-05,1.2293547523332744e-17,1.8061818140096096e-17,1.1401457597350175e-14,-7.977949494209599e-16,1.9796261010981108e-16,-3.759182666415913e-09],"joint_position_rad":[-1.9828222546841232,-1.5427883884680504,1.2963104272572497,-1.3247829756200653,-1.5707760106694846,-0.4120228285841851],"joint_velocity_rad_s":[-2.724999506189932e-06,0.02290661088923616,-0.12176438586642549,0.09871894872563212,-3.822645456348801e-05,4.815017273108115e-05],"linkage_position_rad":[0.0029263840217874293,0.0001559576871155214,0.0031869826608243385,-0.0034215086830849274,0.0029265149973719306,0.00015642457124724168,0.003193760735097513,-0.0034297416454504167],"tcp_position_m":[0.07430854253041266,0.5046488177322055,0.42772383987746926],"tcp_quaternion_wxyz":[-9.419350069224297e-05,0.7071078561706584,0.7071056679683229,0.00021259442858246718],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,1.311317116535266e-17,-1.2116388184703007e-17,-1.7158511313544194e-07],"object_linear_velocity_m_s":[1.2293547523332744e-17,1.8061818140096096e-17,1.1401457597350175e-14],"object_angular_velocity_rad_s":[-7.977948813949442e-16,1.9796288398786243e-16,-3.759182666415916e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313540732334889,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828086518170696,-1.5488658422147252,1.2621078994424937,-1.3099682705588884,-1.5707823218940937,-0.41201329513851487,0.0],"actuator_force":[0.02829573390954465,-21.317551849043866,-19.699301282941633,-2.4645423419747203,0.0006670331517852901,-4.829443798826105e-05,-0.2927042597268992],"issued_joint_targets_rad":[-1.9828084321730968,-1.5380281491548582,1.2722202874683892,-1.3051067286575218,-1.5707847838858235,-0.41201213234063727],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.739999999998933,"joint_targets_rad":[-1.9828084321730968,-1.5380281491548582,1.2722202874683892,-1.3051067286575218,-1.5707847838858235,-0.41201213234063727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.759999999998922,"qpos":[-1.982821945988017,-1.5423483353000493,1.2939931067395651,-1.3229056024045522,-1.5707768499862302,-0.4120218087369925,0.0029265745524613865,0.00015599124169229684,0.0031871125925696953,-0.003421779474240059,0.0029266931282367205,0.0001564144257760913,0.0031936657225399047,-0.0034300554108179088,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-1.5914633836706895e-17,-6.413843548311683e-18,-1.7205377103300927e-07],"qvel":[6.270867401623035e-06,0.021041882839960762,-0.1103960314011828,0.08946130263621511,-3.981309061147983e-05,4.8873263419504286e-05,1.0731111184285704e-05,1.2807396928365404e-06,1.0029532696347155e-05,-1.2822539917814256e-05,1.0363709853567981e-05,-1.7858859714209913e-07,1.3511794149667428e-06,-1.559702929623814e-05,6.173373791676405e-18,-1.435941615940104e-17,1.14070087124733e-14,-6.064595025093514e-16,4.2562494450845485e-16,-1.511073474525191e-08],"joint_position_rad":[-1.982821945988017,-1.5423483353000493,1.2939931067395651,-1.3229056024045522,-1.5707768499862302,-0.4120218087369925],"joint_velocity_rad_s":[6.270867401623035e-06,0.021041882839960762,-0.1103960314011828,0.08946130263621511,-3.981309061147983e-05,4.8873263419504286e-05],"linkage_position_rad":[0.0029265745524613865,0.00015599124169229684,0.0031871125925696953,-0.003421779474240059,0.0029266931282367205,0.0001564144257760913,0.0031936657225399047,-0.0034300554108179088],"tcp_position_m":[0.07431126733758037,0.5046548956651994,0.42843203036301425],"tcp_quaternion_wxyz":[-9.378358948205039e-05,0.7071081076810412,0.7071054164803644,0.00021269815443947126],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-1.5914633836706895e-17,-6.413843548311683e-18,-1.7205377103300927e-07],"object_linear_velocity_m_s":[6.173373791676405e-18,-1.435941615940104e-17,1.14070087124733e-14],"object_angular_velocity_rad_s":[-6.064593558547268e-16,4.2562515271475507e-16,-1.511073474525192e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313542510025538,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828076612797838,-1.5488172136888254,1.2620357995256213,-1.3099334526773494,-1.5707834697257508,-0.4120121321352391,0.0],"actuator_force":[0.026061069505885825,-21.35450991353673,-19.756201867414347,-2.46005540002011,0.0006714393008451225,-4.9025465244767474e-05,-0.2927688581400946],"issued_joint_targets_rad":[-1.9828073695640271,-1.5379835714360721,1.2721558167674163,-1.3050759129438694,-1.5707858297979647,-0.41201106994566233],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.759999999998922,"joint_targets_rad":[-1.9828073695640271,-1.5379835714360721,1.2721558167674163,-1.3050759129438694,-1.5707858297979647,-0.41201106994566233],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.77999999999891,"qpos":[-1.9828215119600954,-1.5419444741125234,1.2918925646297537,-1.3212043990027782,-1.5707777089906836,-0.412020784337208,0.002926839399387459,0.00015602148636189583,0.0031873209560301613,-0.0034221121761983664,0.002926946738553432,0.0001564049904469926,0.003193669898590133,-0.0034304271468281414,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-2.1424347687284353e-17,-1.0514076429863297e-17,-1.72349440308728e-07],"qvel":[1.3927792538454383e-05,0.01930740580280589,-0.10006825796685506,0.08106697519746577,-4.0788949120241564e-05,4.906551679111309e-05,1.394671717699883e-05,1.1693268270038589e-06,1.3075717332662828e-05,-1.5736350883206618e-05,1.3602085369834758e-05,-1.8901958548008468e-07,5.117242980310293e-06,-1.8181529323110213e-05,3.6468564630805846e-17,-5.442837001954444e-17,1.1350109782461258e-14,-1.1745671814623345e-15,-1.603522225195419e-15,-6.074041215958941e-08],"joint_position_rad":[-1.9828215119600954,-1.5419444741125234,1.2918925646297537,-1.3212043990027782,-1.5707777089906836,-0.412020784337208],"joint_velocity_rad_s":[1.3927792538454383e-05,0.01930740580280589,-0.10006825796685506,0.08106697519746577,-4.0788949120241564e-05,4.906551679111309e-05],"linkage_position_rad":[0.002926839399387459,0.00015602148636189583,0.0031873209560301613,-0.0034221121761983664,0.002926946738553432,0.0001564049904469926,0.003193669898590133,-0.0034304271468281414],"tcp_position_m":[0.07431380427027566,0.5046606851918763,0.42907121412375215],"tcp_quaternion_wxyz":[-9.255902432560631e-05,0.7071083168664435,0.7071052080389885,0.00021074930762908154],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-2.1424347687284353e-17,-1.0514076429863297e-17,-1.72349440308728e-07],"object_linear_velocity_m_s":[3.6468564630805846e-17,-5.442837001954444e-17,1.1350109782461258e-14],"object_angular_velocity_rad_s":[-1.1745677329173235e-15,-1.6035218229259799e-15,-6.074041215958946e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313543301165914,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828067399609,-1.5487768416066567,1.2619751308779021,-1.309902895495409,-1.5707845184515978,-0.41201106967462897,0.0],"actuator_force":[0.023972881375811994,-21.38769730938884,-19.80756431696136,-2.455945766061973,0.0006741644548355907,-4.922038959875863e-05,-0.2928270509097787],"issued_joint_targets_rad":[-1.9828063998636862,-1.5379460870462118,1.2721012163280174,-1.3050488605451231,-1.5707867843578907,-0.41201010015511624],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.77999999999891,"joint_targets_rad":[-1.9828063998636862,-1.5379460870462118,1.2721012163280174,-1.3050488605451231,-1.5707867843578907,-0.41201010015511624],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.7999999999989,"qpos":[-1.9828209716024534,-1.5415742035594686,1.2899888816899183,-1.3196629181520416,-1.5707785770289393,-0.4120197647364735,0.0029271545117663324,0.00015604875416923378,0.003187583607282254,-0.0034224847762464473,0.002927251669960964,0.0001563962395407528,0.0031937472463242403,-0.0034308351974347566,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-2.011871489624115e-17,-1.2142532782581162e-17,-1.725797495236525e-07],"qvel":[2.0361062713917556e-05,0.017698351179624178,-0.09068958410647034,0.07345623085174127,-4.124987426779684e-05,4.881418028444646e-05,1.6078207400705897e-05,1.0666196274706236e-06,1.5096188960326303e-05,-1.7613504794299597e-05,1.5756319832714207e-05,-1.9376715381514302e-07,7.806492822470513e-06,-1.977320271352974e-05,1.4525309589809612e-17,-2.4428494419561002e-17,1.132512976440719e-14,6.691394018027251e-16,3.1840861082953145e-16,-6.573171367632175e-09],"joint_position_rad":[-1.9828209716024534,-1.5415742035594686,1.2899888816899183,-1.3196629181520416,-1.5707785770289393,-0.4120197647364735],"joint_velocity_rad_s":[2.0361062713917556e-05,0.017698351179624178,-0.09068958410647034,0.07345623085174127,-4.124987426779684e-05,4.881418028444646e-05],"linkage_position_rad":[0.0029271545117663324,0.00015604875416923378,0.003187583607282254,-0.0034224847762464473,0.002927251669960964,0.0001563962395407528,0.0031937472463242403,-0.0034308351974347566],"tcp_position_m":[0.07431615563026041,0.504666175034519,0.4296481265627491],"tcp_quaternion_wxyz":[-9.068354307476056e-05,0.7071084870530839,0.7071050391577931,0.00020715127033606065],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-2.011871489624115e-17,-1.2142532782581162e-17,-1.725797495236525e-07],"object_linear_velocity_m_s":[1.4525309589809612e-17,-2.4428494419561002e-17,1.132512976440719e-14],"object_angular_velocity_rad_s":[6.691395118640724e-16,3.1840837960520453e-16,-6.573171367632181e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313543349871553,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828058856724744,-1.5487432874486649,1.2619239995326457,-1.3098760408287868,-1.5707854758615785,-0.41201009983606834,0.0],"actuator_force":[0.02202743487259795,-21.417508250242463,-19.853930671957187,-2.4521844235467825,0.0006755711070809411,-4.896782584751236e-05,-0.2928794817225319],"issued_joint_targets_rad":[-1.9828055155783273,-1.537914504284402,1.2720548858710532,-1.3050250777575407,-1.5707876549181723,-0.412009215532419],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.7999999999989,"joint_targets_rad":[-1.9828055155783273,-1.537914504284402,1.2720548858710532,-1.3050250777575407,-1.5707876549181723,-0.412009215532419],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.819999999998888,"qpos":[-1.982820342725366,-1.5412350357138795,1.2882639037887438,-1.318266234526742,-1.57077944518415,-0.41201875767452156,0.002927501225723944,0.00015607334346001773,0.003187881745286268,-0.0034228802998138145,0.00292758916073829,0.0001563881428670264,0.0031938772540397,-0.003431262913060673,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-3.079157485007407e-17,-4.233833183191852e-18,-1.7301377511198352e-07],"qvel":[2.568609020459993e-05,0.016209080570732073,-0.08217588760692532,0.06655658305983686,-4.1279999890831064e-05,4.819592967854559e-05,1.7370661437912205e-05,9.721063003046381e-07,1.6323014659526234e-05,-1.8691071573787513e-05,1.7071129466397777e-05,-1.941700581840404e-07,9.653113960035604e-06,-2.0602584111618733e-05,2.8461591200532967e-18,-3.654438633768513e-17,1.1221046355848581e-14,-5.750733946876237e-18,2.6608755336981125e-16,-2.642208633773131e-08],"joint_position_rad":[-1.982820342725366,-1.5412350357138795,1.2882639037887438,-1.318266234526742,-1.57077944518415,-0.41201875767452156],"joint_velocity_rad_s":[2.568609020459993e-05,0.016209080570732073,-0.08217588760692532,0.06655658305983686,-4.1279999890831064e-05,4.819592967854559e-05],"linkage_position_rad":[0.002927501225723944,0.00015607334346001773,0.003187881745286268,-0.0034228802998138145,0.00292758916073829,0.0001563881428670264,0.0031938772540397,-0.003431262913060673],"tcp_position_m":[0.07431832647848646,0.5046713605822742,0.43016884386602977],"tcp_quaternion_wxyz":[-8.829641204073826e-05,0.7071086217239613,0.707104906207981,0.0002022473356523906],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-3.079157485007407e-17,-4.233833183191852e-18,-1.7301377511198352e-07],"object_linear_velocity_m_s":[2.8461591200532967e-18,-3.654438633768513e-17,1.1221046355848581e-14],"object_angular_velocity_rad_s":[-5.750641649518531e-18,2.660875537325526e-16,-2.642208633773134e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931354284957457,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982805095656098,-1.5487153667125961,1.2618808315386836,-1.3098524061429802,-1.570786349277766,-0.41200921517963823,0.0],"actuator_force":[0.020219702453687205,-21.44429422572557,-19.895789457350475,-2.4487441141027375,0.0006759531810303088,-4.834552620991417e-05,-0.2929267282776332],"issued_joint_targets_rad":[-1.9828047097013257,-1.537887837959694,1.2720154925664309,-1.3050041384690896,-1.5707884483572077,-0.41200840912047043],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.819999999998888,"joint_targets_rad":[-1.9828047097013257,-1.537887837959694,1.2720154925664309,-1.3050041384690896,-1.5707884483572077,-0.41200840912047043],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.839999999998877,"qpos":[-1.9828196417793933,-1.5409246076855379,1.286701097331646,-1.3170008059750486,-1.5707803060611594,-0.41201776947974217,0.0029278651882405117,0.0001560955217052736,0.003188200849201666,-0.003423285795617671,0.0029279447688841404,0.00015638066731387797,0.0031940438394726994,-0.003431697638470906,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-2.6275983757846514e-17,1.6549765093968864e-18,-1.7316563423016342e-07],"qvel":[3.0015625788393225e-05,0.014833441368831907,-0.0744499398148913,0.06030215008717497,-4.0952944403358376e-05,4.727788585134939e-05,1.8020053999945954e-05,8.85275884573987e-07,1.6941684957028965e-05,-1.915844496043259e-05,1.774222027089449e-05,-1.9130648239210252e-07,1.0844912284082873e-05,-2.0853598500310386e-05,-6.94700242281956e-17,-1.2337191465985548e-16,1.1151657416809506e-14,-6.006709203675556e-15,5.810938423406795e-15,-1.0620849623307237e-07],"joint_position_rad":[-1.9828196417793933,-1.5409246076855379,1.286701097331646,-1.3170008059750486,-1.5707803060611594,-0.41201776947974217],"joint_velocity_rad_s":[3.0015625788393225e-05,0.014833441368831907,-0.0744499398148913,0.06030215008717497,-4.0952944403358376e-05,4.727788585134939e-05],"linkage_position_rad":[0.0029278651882405117,0.0001560955217052736,0.003188200849201666,-0.003423285795617671,0.0029279447688841404,0.00015638066731387797,0.0031940438394726994,-0.003431697638470906],"tcp_position_m":[0.07432032383015097,0.5046762423935399,0.4306388478343166],"tcp_quaternion_wxyz":[-8.551570420803631e-05,0.7071087243904649,0.7071048055507493,0.00019632878015982043],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-2.6275983757846514e-17,1.6549765093968864e-18,-1.7316563423016342e-07],"object_linear_velocity_m_s":[-6.94700242281956e-17,-1.2337191465985548e-16,1.1151657416809506e-14],"object_angular_velocity_rad_s":[-6.006707191517073e-15,5.810940498136205e-15,-1.0620849623307249e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313541952849992,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828043667750048,-1.5486921038348989,1.2618443188535893,-1.3098315745938995,-1.5707871455532132,-0.4120084087454791,0.0],"actuator_force":[0.01854375846187395,-21.468368846254634,-19.9335810301568,-2.4455993181429676,0.0006755484134828293,-4.7421453615470455e-05,-0.29296930922758685],"issued_joint_targets_rad":[-1.9828039757047669,-1.537865273076157,1.2719819259595828,-1.3049856750038293,-1.5707891710862898,-0.41200767443391656],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.839999999998877,"joint_targets_rad":[-1.9828039757047669,-1.537865273076157,1.2719819259595828,-1.3049856750038293,-1.5707891710862898,-0.41200767443391656],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.859999999998866,"qpos":[-1.9828188837690555,-1.5406406882803816,1.2852854143467072,-1.3158543471287816,-1.5707811535932459,-0.41201680524979856,0.002928235485770672,0.0001561155288736085,0.003188529817554024,-0.0034236915145794897,0.002928307499961085,0.00015637377807927494,0.0031942344767921294,-0.0034321298942176044,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-3.744036667289763e-17,1.864177598156963e-17,-1.7356834462536907e-07],"qvel":[3.345779452466106e-05,0.01356499616199829,-0.0674409445265525,0.05463306687823668,-4.033291149643714e-05,4.611856700897211e-05,1.8182601463254693e-05,8.056241882976254e-07,1.7100001941839985e-05,-1.9166421510640945e-05,1.792561628825971e-05,-1.8604034337298348e-07,1.1532135081826051e-05,-2.0672458111226967e-05,-2.1143484778082095e-17,-4.709420703573698e-17,1.1144718522905598e-14,1.1566785639907329e-15,-2.747489679881114e-16,-1.1493610622927768e-08],"joint_position_rad":[-1.9828188837690555,-1.5406406882803816,1.2852854143467072,-1.3158543471287816,-1.5707811535932459,-0.41201680524979856],"joint_velocity_rad_s":[3.345779452466106e-05,0.01356499616199829,-0.0674409445265525,0.05463306687823668,-4.033291149643714e-05,4.611856700897211e-05],"linkage_position_rad":[0.002928235485770672,0.0001561155288736085,0.003188529817554024,-0.0034236915145794897,0.002928307499961085,0.00015637377807927494,0.0031942344767921294,-0.0034321298942176044],"tcp_position_m":[0.07432215602295983,0.5046808249803048,0.43106308428204865],"tcp_quaternion_wxyz":[-8.244115833954871e-05,0.7071087984985129,0.7071047336324334,0.0001896418972967815],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-3.744036667289763e-17,1.864177598156963e-17,-1.7356834462536907e-07],"object_linear_velocity_m_s":[-2.1143484778082095e-17,-4.709420703573698e-17,1.1144718522905598e-14],"object_angular_velocity_rad_s":[1.1566784681866947e-15,-2.747493703743123e-16,-1.1493610622927782e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313540779396143,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828036956636403,-1.5486726951079295,1.2618133742471254,-1.3098131861861553,-1.5707878710783718,-0.41200767404595845,0.0],"actuator_force":[0.016993093020118977,-21.490012119895255,-19.96770238854242,-2.4427262165104366,0.000674548586630408,-4.625478084108181e-05,-0.2930076903753454],"issued_joint_targets_rad":[-1.9828033075255778,-1.5378461349319068,1.2719532604229047,-1.3049693700781662,-1.570789829062306,-0.4120070054459843],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.859999999998866,"joint_targets_rad":[-1.9828033075255778,-1.5378461349319068,1.2719532604229047,-1.3049693700781662,-1.570789829062306,-0.4120070054459843],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.879999999998855,"qpos":[-1.9828180822273223,-1.5403811808447518,1.284003167007341,-1.3148157143096464,-1.5707819828692382,-0.41201586901367754,0.002928603939524158,0.00015613358040351388,0.0031888602717519395,-0.003424090246481665,0.002928669101665858,0.0001563674396340988,0.0031944394888341397,-0.0034325527156048685,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-3.926053509655395e-17,2.240071481972746e-17,-1.7394069719567136e-07],"qvel":[3.611477712629888e-05,0.012397198877386433,-0.061084087499509186,0.049494947958556815,-3.947569914037951e-05,4.476877440335373e-05,1.798237318599289e-05,7.32658921515882e-07,1.6915311698096814e-05,-1.8834598430417826e-05,1.774525565422523e-05,-1.790597907773258e-07,1.18346461838183e-05,-2.0174905332139063e-05,-3.08746805434716e-17,-5.945888467120312e-17,1.114610630168638e-14,-5.680012109461128e-16,3.154467566162903e-16,-4.6200708185809155e-08],"joint_position_rad":[-1.9828180822273223,-1.5403811808447518,1.284003167007341,-1.3148157143096464,-1.5707819828692382,-0.41201586901367754],"joint_velocity_rad_s":[3.611477712629888e-05,0.012397198877386433,-0.061084087499509186,0.049494947958556815,-3.947569914037951e-05,4.476877440335373e-05],"linkage_position_rad":[0.002928603939524158,0.00015613358040351388,0.0031888602717519395,-0.003424090246481665,0.002928669101665858,0.0001563674396340988,0.0031944394888341397,-0.0034325527156048685],"tcp_position_m":[0.0743238322251698,0.5046851158245358,0.43144601565254687],"tcp_quaternion_wxyz":[-7.91566718820978e-05,0.7071088473619077,0.707104687050735,0.00018239412407883098],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-3.926053509655395e-17,2.240071481972746e-17,-1.7394069719567136e-07],"object_linear_velocity_m_s":[-3.08746805434716e-17,-5.945888467120312e-17,1.114610630168638e-14],"object_angular_velocity_rad_s":[-5.6800110327788e-16,3.154469505855962e-16,-4.6200708185809215e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313539422510597,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828030788429694,-1.5486564781797798,1.261787093760911,-1.3097969299924659,-1.570788531793214,-0.41200700505242366,0.0],"actuator_force":[0.015560857855234644,-21.509474221009896,-19.998511493056412,-2.440102637265454,0.0006731079262181083,-4.489681339236995e-05,-0.2930422902037019],"issued_joint_targets_rad":[-1.9828026995477144,-1.5378298645010922,1.2719287239085686,-1.3049549497816186,-1.570790427804537,-0.41200639657135896],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.879999999998855,"joint_targets_rad":[-1.9828026995477144,-1.5378298645010922,1.2719287239085686,-1.3049549497816186,-1.570790427804537,-0.41200639657135896],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.899999999998844,"qpos":[-1.9828172492345082,-1.5401441232116428,1.2828419112782357,-1.313874800750007,-1.5707827899793185,-0.41201496387657105,0.002928964536355361,0.00015614986982863215,0.0031891859933467436,-0.003424476784881628,0.0029290234940681933,0.00015636161646301886,0.0031946514739067855,-0.0034329611196963696,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-2.947365941486277e-17,1.5768195806164683e-17,-1.7411587626431628e-07],"qvel":[3.8081989462265794e-05,0.011323528228607441,-0.055320101051973686,0.044838396890747624,-3.842962086057963e-05,4.327241118982236e-05,1.751748524923671e-05,6.659034435338501e-07,1.6480384487365873e-05,-1.8257394850154747e-05,1.7299171678727503e-05,-1.7090932249862854e-07,1.1847758122157117e-05,-1.9452108463063668e-05,-1.8995681887051242e-17,-3.616508768322767e-17,1.1029532884100737e-14,1.4842290465789793e-15,-8.876462031612229e-16,-4.999721954689888e-09],"joint_position_rad":[-1.9828172492345082,-1.5401441232116428,1.2828419112782357,-1.313874800750007,-1.5707827899793185,-0.41201496387657105],"joint_velocity_rad_s":[3.8081989462265794e-05,0.011323528228607441,-0.055320101051973686,0.044838396890747624,-3.842962086057963e-05,4.327241118982236e-05],"linkage_position_rad":[0.002928964536355361,0.00015614986982863215,0.0031891859933467436,-0.003424476784881628,0.0029290234940681933,0.00015636161646301886,0.0031946514739067855,-0.0034329611196963696],"tcp_position_m":[0.07432536205606194,0.5046891245852854,0.4317916684308134],"tcp_quaternion_wxyz":[-7.573247385815019e-05,0.7071088741169704,0.7071046625986723,0.00017475937667425553],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-2.947365941486277e-17,1.5768195806164683e-17,-1.7411587626431628e-07],"object_linear_velocity_m_s":[-1.8995681887051242e-17,-3.616508768322767e-17,1.1029532884100737e-14],"object_angular_velocity_rad_s":[1.4842287373146255e-15,-8.876467203115727e-16,-4.999721954689896e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931353795434019,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828025128082805,-1.5486429069723098,1.261764725492908,-1.309782537354803,-1.5707891332035102,-0.41200639617801194,0.0],"actuator_force":[0.014240056670587364,-21.526978812776633,-20.0263311498652,-2.4377079914728483,0.0006713499902843978,-4.33918393980548e-05,-0.2930734848058175],"issued_joint_targets_rad":[-1.9828021465816188,-1.537815998166486,1.271907671968992,-1.304942177484823,-1.5707909724143065,-0.4120058426463084],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.899999999998844,"joint_targets_rad":[-1.9828021465816188,-1.537815998166486,1.271907671968992,-1.304942177484823,-1.5707909724143065,-0.4120058426463084],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.919999999998833,"qpos":[-1.9828163954687197,-1.5399276854818007,1.2817903393037944,-1.3130224412312583,-1.5707835718778775,-0.41201409214896834,0.002929312969919514,0.00015616457110095218,0.0031895024700500244,-0.0034248474962616632,0.002929366310170991,0.00015635627362541567,0.003194864842126974,-0.003433351676399054,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-1.777500133413055e-17,-8.385785895875634e-18,-1.7454420256099492e-07],"qvel":[3.944764170863289e-05,0.010337587066560851,-0.05009484693242197,0.04061855828506509,-3.7236343891347135e-05,4.1667235320364566e-05,1.6865137231623585e-05,6.048999651370348e-07,1.5868193782711267e-05,-1.75089462597084e-05,1.6664519158664736e-05,-1.6201651033164647e-07,1.164697091029537e-05,-1.8575455979416342e-05,1.0076619249258749e-17,-2.5397986679091493e-17,1.0961531723842449e-14,1.0473332744973359e-15,-1.1832414084206115e-15,-2.0097313421938258e-08],"joint_position_rad":[-1.9828163954687197,-1.5399276854818007,1.2817903393037944,-1.3130224412312583,-1.5707835718778775,-0.41201409214896834],"joint_velocity_rad_s":[3.944764170863289e-05,0.010337587066560851,-0.05009484693242197,0.04061855828506509,-3.7236343891347135e-05,4.1667235320364566e-05],"linkage_position_rad":[0.002929312969919514,0.00015616457110095218,0.0031895024700500244,-0.0034248474962616632,0.002929366310170991,0.00015635627362541567,0.003194864842126974,-0.003433351676399054],"tcp_position_m":[0.07432675529655153,0.5046928624623361,0.4321036758753367],"tcp_quaternion_wxyz":[-7.222701804252221e-05,0.707108881693663,0.7071046572915216,0.00016688269540212519],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-1.777500133413055e-17,-8.385785895875634e-18,-1.7454420256099492e-07],"object_linear_velocity_m_s":[1.0076619249258749e-17,-2.5397986679091493e-17,1.0961531723842449e-14],"object_angular_velocity_rad_s":[1.047332861778481e-15,-1.1832417747469036e-15,-2.0097313421938288e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313536430132824,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828019940950021,-1.5486315310579883,1.2617456436667156,-1.3097697759767775,-1.5707896804000159,-0.41200584225771786,0.0],"actuator_force":[0.013023690751651884,-21.542725978999442,-20.051452501189033,-2.435523201266051,0.000669373320079103,-4.1777906773177165e-05,-0.2931016122864767],"issued_joint_targets_rad":[-1.982801643841932,-1.5378041510341212,1.2718895661737994,-1.3049308485753053,-1.5707914675964885,-0.41200533890701296],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.919999999998833,"joint_targets_rad":[-1.982801643841932,-1.5378041510341212,1.2718895661737994,-1.3049308485753053,-1.5707914675964885,-0.41200533890701296],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.939999999998822,"qpos":[-1.9828155302778563,-1.539730166222727,1.2808381801127835,-1.3122503253193003,-1.5707843262618904,-0.4120132554612963,0.0029296462714207454,0.00015617784064993765,0.0031898065301273174,-0.0034251999738320804,0.0029296945261125975,0.00015635137717028412,0.003195075440864445,-0.00343372216402378,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-5.641176606357648e-18,-1.7816660124449168e-17,-1.748075964717803e-07],"qvel":[4.029258276851176e-05,0.009433174622334778,-0.04535891960780725,0.036794708757717974,-3.5931649106673074e-05,3.9985548418895174e-05,1.6085704587536166e-05,5.492116852748868e-07,1.5135796062965674e-05,-1.6647084592991315e-05,1.5901658188497278e-05,-1.5271396554393243e-07,1.1291820764834069e-05,-1.7600449950535317e-05,6.30005620149928e-17,3.414071707185171e-18,1.0972633954088706e-14,2.293445901656588e-15,-3.532079112007783e-15,-8.078489372812826e-08],"joint_position_rad":[-1.9828155302778563,-1.539730166222727,1.2808381801127835,-1.3122503253193003,-1.5707843262618904,-0.4120132554612963],"joint_velocity_rad_s":[4.029258276851176e-05,0.009433174622334778,-0.04535891960780725,0.036794708757717974,-3.5931649106673074e-05,3.9985548418895174e-05],"linkage_position_rad":[0.0029296462714207454,0.00015617784064993765,0.0031898065301273174,-0.0034251999738320804,0.0029296945261125975,0.00015635137717028412,0.003195075440864445,-0.00343372216402378],"tcp_position_m":[0.07432802167179059,0.5046963416881333,0.43238531653667933],"tcp_quaternion_wxyz":[-6.868863159357082e-05,0.7071088727993519,0.7071046683809156,0.00015888428678845066],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-5.641176606357648e-18,-1.7816660124449168e-17,-1.748075964717803e-07],"object_linear_velocity_m_s":[6.30005620149928e-17,3.414071707185171e-18,1.0972633954088706e-14],"object_angular_velocity_rad_s":[2.2934446696665655e-15,-3.532079914742549e-15,-8.078489372812841e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313534891676996,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828015193270194,-1.5486219787051065,1.2617293271094732,-1.3097584448135495,-1.570790178079568,-0.41200533852667687,0.0],"actuator_force":[0.011904868566489313,-21.55689481369336,-20.074138163497537,-2.433530622896342,0.0006672560718925524,-4.0087532198640474e-05,-0.29312697669054727],"issued_joint_targets_rad":[-1.9828011869242321,-1.5377940031965556,1.271873956190907,-1.3049207859243015,-1.570791917682078,-0.4120048809668682],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.939999999998822,"joint_targets_rad":[-1.9828011869242321,-1.5377940031965556,1.271873956190907,-1.3049207859243015,-1.570791917682078,-0.4120048809668682],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.95999999999881,"qpos":[-1.9828146617654507,-1.5395499875471381,1.279976108184817,-1.3115509184459289,-1.5707850514633495,-0.4120124548653948,0.00292996251309188,0.0001561898192114769,0.003190096048551351,-0.003425532760011213,0.0029300061641469727,0.0001563468944336693,0.0031952802526286155,-0.0034340712933779494,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,3.6350684837766156e-18,-2.450632875171238e-17,-1.7511390827953358e-07],"qvel":[4.0690355217728446e-05,0.008604337310964669,-0.04106727128963455,0.03332988356227698,-3.454611786837496e-05,3.825482327042755e-05,1.522606080528603e-05,4.984243995227214e-07,1.4327479228531223e-05,-1.5716566043532545e-05,1.5057469322744305e-05,-1.432575143336797e-07,1.0829003304381719e-05,-1.6569866843323728e-05,2.8994009131056866e-17,1.0624996792859201e-18,1.0889367227241817e-14,2.567679425549332e-16,6.350934354954511e-16,-8.74233367063344e-09],"joint_position_rad":[-1.9828146617654507,-1.5395499875471381,1.279976108184817,-1.3115509184459289,-1.5707850514633495,-0.4120124548653948],"joint_velocity_rad_s":[4.0690355217728446e-05,0.008604337310964669,-0.04106727128963455,0.03332988356227698,-3.454611786837496e-05,3.825482327042755e-05],"linkage_position_rad":[0.00292996251309188,0.0001561898192114769,0.003190096048551351,-0.003425532760011213,0.0029300061641469727,0.0001563468944336693,0.0031952802526286155,-0.0034340712933779494],"tcp_position_m":[0.07432917069101114,0.5046995751246754,0.4326395489828099],"tcp_quaternion_wxyz":[-6.51569498773249e-05,0.7071088499121284,0.7071046933593793,0.00015086303910221525],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,3.6350684837766156e-18,-2.450632875171238e-17,-1.7511390827953358e-07],"object_linear_velocity_m_s":[2.8994009131056866e-17,1.0624996792859201e-18,1.0889367227241817e-14],"object_angular_velocity_rad_s":[2.567681654107902e-16,6.350933456316954e-16,-8.742333670633456e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313533370080504,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828010852511333,-1.5486139429402852,1.2617153414020017,-1.3097483696674128,-1.5707906305672887,-0.41200488059742907,0.0],"actuator_force":[0.01087688654752128,-21.569645710680106,-20.094625049776823,-2.43171396696971,0.0006650598172655009,-3.834834419080835e-05,-0.29314985151258277],"issued_joint_targets_rad":[-1.9828007717813996,-1.5377852884228542,1.2718604649173524,-1.3049118359937413,-1.5707923266512052,-0.41200446479336766],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.95999999999881,"joint_targets_rad":[-1.9828007717813996,-1.5377852884228542,1.2718604649173524,-1.3049118359937413,-1.5707923266512052,-0.41200446479336766],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.9799999999988,"qpos":[-1.9828137968844584,-1.539385689434033,1.2791956594100855,-1.310917390148182,-1.570785746354403,-0.41201169092404477,0.002930260570661749,0.00015620063345387939,0.0031903697113705694,-0.0034258451245402716,0.002930300054653926,0.00015634279424262302,0.0031954771518169223,-0.003434398487345337,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-7.264147962667772e-18,1.9359589161621663e-18,-1.7549560886234662e-07],"qvel":[4.0707401925795314e-05,0.007845402684714372,-0.03717885936130423,0.030190535905952307,-3.310575093682967e-05,3.6498273031973836e-05,1.4322271383128019e-05,4.5214733644234486e-07,1.3477313393260053e-05,-1.4751690511959645e-05,1.4168041888660274e-05,-1.3384130001838172e-07,1.0294906058354046e-05,-1.5516318643876633e-05,-7.468241917593804e-18,-1.796744080111018e-17,1.0829692739668211e-14,-1.0191698703103775e-15,2.1808831527231824e-15,-3.514143814600974e-08],"joint_position_rad":[-1.9828137968844584,-1.539385689434033,1.2791956594100855,-1.310917390148182,-1.570785746354403,-0.41201169092404477],"joint_velocity_rad_s":[4.0707401925795314e-05,0.007845402684714372,-0.03717885936130423,0.030190535905952307,-3.310575093682967e-05,3.6498273031973836e-05],"linkage_position_rad":[0.002930260570661749,0.00015620063345387939,0.0031903697113705694,-0.0034258451245402716,0.002930300054653926,0.00015634279424262302,0.0031954771518169223,-0.003434398487345337],"tcp_position_m":[0.07433021153266157,0.5047025759461198,0.4328690431084121],"tcp_quaternion_wxyz":[-6.166416433753815e-05,0.7071088152812357,0.7071047299578808,0.0001428995780605209],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-7.264147962667772e-18,1.9359589161621663e-18,-1.7549560886234662e-07],"object_linear_velocity_m_s":[-7.468241917593804e-18,-1.796744080111018e-17,1.0829692739668211e-14],"object_angular_velocity_rad_s":[-1.0191691049755482e-15,2.180883509932181e-15,-3.514143814600981e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313531888011709,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982800688760612,-1.5486071700921058,1.2617033240836593,-1.3097393994022721,-1.5707910418392805,-0.4120044644367696,0.0],"actuator_force":[0.009933286922205298,-21.58112239003185,-20.11312690833074,-2.430058217640294,0.0006628326549389385,-3.6583665604439375e-05,-0.2931704828321427],"issued_joint_targets_rad":[-1.9828003947000912,-1.5377777848454184,1.271848776145635,-1.3049038654999765,-1.5707926981561149,-0.4120040866850253],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.9799999999988,"joint_targets_rad":[-1.9828003947000912,-1.5377777848454184,1.271848776145635,-1.3049038654999765,-1.5707926981561149,-0.4120040866850253],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.999999999998789,"qpos":[-1.9828129415345592,-1.5392359235760702,1.278489153970289,-1.3103435488354882,-1.5707864102639246,-0.41201096378969937,0.0029305399336112302,0.0001562103974262826,0.0031906268272562334,-0.003426136887660336,0.0029305756459772226,0.0001563390470452752,0.0031956647092361004,-0.003434703705422519,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999856,-8.301705222762806e-18,9.266123385425903e-18,-1.7562885453426367e-07],"qvel":[4.0403378218975825e-05,0.007151000241378757,-0.03365631635734742,0.0273462262136912,-3.163252460506834e-05,3.4735365654141235e-05,1.3401776081954788e-05,4.1001347876854155e-07,1.2611216778138278e-05,-1.3778422799196841e-05,1.3260851693442509e-05,-1.2460982963979929e-07,9.717661314788318e-06,-1.4464325138336625e-05,-6.693828518578604e-18,-9.984521747732804e-18,1.0788059376244763e-14,3.7585187829515566e-16,-3.026326905456557e-17,-3.80291616118528e-09],"joint_position_rad":[-1.9828129415345592,-1.5392359235760702,1.278489153970289,-1.3103435488354882,-1.5707864102639246,-0.41201096378969937],"joint_velocity_rad_s":[4.0403378218975825e-05,0.007151000241378757,-0.03365631635734742,0.0273462262136912,-3.163252460506834e-05,3.4735365654141235e-05],"linkage_position_rad":[0.0029305399336112302,0.0001562103974262826,0.0031906268272562334,-0.003426136887660336,0.0029305756459772226,0.0001563390470452752,0.0031956647092361004,-0.003434703705422519],"tcp_position_m":[0.07433115296515724,0.5047053573912375,0.43307620836719996],"tcp_quaternion_wxyz":[-5.823610691924251e-05,0.7071087709326606,0.7071047761384058,0.00013505892093846461],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999856,-8.301705222762806e-18,9.266123385425903e-18,-1.7562885453426367e-07],"object_linear_velocity_m_s":[-6.693828518578604e-18,-9.984521747732804e-18,1.0788059376244763e-14],"object_angular_velocity_rad_s":[3.7585186759445006e-16,-3.026340113857485e-17,-3.8029161611852876e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313530461504614,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828003269102341,-1.5486014503745054,1.261692972395211,-1.3097314026970641,-1.570791415545319,-0.4120040863426445,0.0],"actuator_force":[0.009067897362456279,-21.591453693421954,-20.12983660721693,-2.428549552157051,0.0006606117632372843,-3.4813038013226105e-05,-0.29318909211829963],"issued_joint_targets_rad":[-1.982800052277654,-1.5377713072896302,1.2718386243357873,-1.304896758559008,-1.5707930355437474,-0.41200374324870426],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.999999999998789,"joint_targets_rad":[-1.982800052277654,-1.5377713072896302,1.2718386243357873,-1.304896758559008,-1.5707930355437474,-0.41200374324870426],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.019999999998777,"qpos":[-1.9828121006596917,-1.5390994469729073,1.2778496256736132,-1.3098237825075423,-1.5707870429043551,-0.41201027327348844,0.002930800554098454,0.00015621921385055673,0.003190867177238632,-0.0034264082796942323,0.0029308328529678196,0.0001563356249822117,0.003195842035380863,-0.003434987304529547,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,-5.983416658273626e-18,3.676271587574742e-17,-1.7610296469354047e-07],"qvel":[3.983153393403702e-05,0.006516072072228849,-0.030465642252036525,0.024769338827225876,-3.0144889049036882e-05,3.2982287088880755e-05,1.2485154267506369e-05,3.7167962390691893e-07,1.1748625475291833e-05,-1.2816105642072473e-05,1.2356522711285251e-05,-1.1566815121319056e-07,9.11880717765273e-06,-1.3431991426460448e-05,-4.2434853559533936e-17,-7.39697225074819e-18,1.1275169728299051e-14,1.9468990983509603e-16,-6.717302844464331e-17,-1.5286529671323727e-08],"joint_position_rad":[-1.9828121006596917,-1.5390994469729073,1.2778496256736132,-1.3098237825075423,-1.5707870429043551,-0.41201027327348844],"joint_velocity_rad_s":[3.983153393403702e-05,0.006516072072228849,-0.030465642252036525,0.024769338827225876,-3.0144889049036882e-05,3.2982287088880755e-05],"linkage_position_rad":[0.002930800554098454,0.00015621921385055673,0.003190867177238632,-0.0034264082796942323,0.0029308328529678196,0.0001563356249822117,0.003195842035380863,-0.003434987304529547],"tcp_position_m":[0.07433200329544788,0.5047079325726467,0.43326321923205213],"tcp_quaternion_wxyz":[-5.489319159795786e-05,0.7071087186783631,0.7071048300831073,0.00012739277995923217],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,-5.983416658273626e-18,3.676271587574742e-17,-1.7610296469354047e-07],"object_linear_velocity_m_s":[-4.2434853559533936e-17,-7.39697225074819e-18,1.1275169728299051e-14],"object_angular_velocity_rad_s":[1.946898850523963e-16,-6.717309719851092e-17,-1.5286529671323723e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931352910140938,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827999969247276,-1.5485966101466566,1.2616840331280492,-1.3097242652657834,-1.570791755031187,-0.412003742921457,0.0],"actuator_force":[0.0082748563545465,-21.600755176390066,-20.14492819031375,-2.4271752618432174,0.0006584254889503427,-3.305269316911108e-05,-0.29320587873820764],"issued_joint_targets_rad":[-1.982799741399761,-1.5377657009549575,1.2718297861348384,-1.3048904142463247,-1.570793341877653,-0.4120034313775979],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.019999999998777,"joint_targets_rad":[-1.982799741399761,-1.5377657009549575,1.2718297861348384,-1.3048904142463247,-1.570793341877653,-0.4120034313775979],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.039999999998766,"qpos":[-1.9828112783434306,-1.5389751154387343,1.277270757287714,-1.3093530048945825,-1.570787644307736,-0.41200961890549387,0.002931042727129989,0.00015622717527410634,0.0031910908953196398,-0.003426659830031529,0.002931071936806367,0.00015633250191343775,0.003196008655109698,-0.003435249929120481,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,-2.1200364407957768e-17,3.1162798816728757e-17,-1.764020737198301e-07],"qvel":[3.9039137763372884e-05,0.005935875745620969,-0.027575918517826228,0.022434823827775577,-2.865821373960295e-05,3.1252357075186075e-05,1.1587550864918386e-05,3.3682592757798095e-07,1.090384272187133e-05,-1.1878846616004167e-05,1.1470250158753347e-05,-1.0709004936433455e-07,8.514630685903149e-06,-1.243235996817477e-05,-4.692100282210718e-17,-6.580380977923516e-17,1.1604073299344251e-14,-4.012739444556714e-15,-2.389306448663381e-16,-6.144705260064803e-08],"joint_position_rad":[-1.9828112783434306,-1.5389751154387343,1.277270757287714,-1.3093530048945825,-1.570787644307736,-0.41200961890549387],"joint_velocity_rad_s":[3.9039137763372884e-05,0.005935875745620969,-0.027575918517826228,0.022434823827775577,-2.865821373960295e-05,3.1252357075186075e-05],"linkage_position_rad":[0.002931042727129989,0.00015622717527410634,0.0031910908953196398,-0.003426659830031529,0.002931071936806367,0.00015633250191343775,0.003196008655109698,-0.003435249929120481],"tcp_position_m":[0.07433277033911781,0.5047103143320741,0.4334320381571367],"tcp_quaternion_wxyz":[-5.16512310146085e-05,0.7071086601279535,0.7071048901812389,0.00011994155943128044],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,-2.1200364407957768e-17,3.1162798816728757e-17,-1.764020737198301e-07],"object_linear_velocity_m_s":[-4.692100282210718e-17,-6.580380977923516e-17,1.1604073299344251e-14],"object_angular_velocity_rad_s":[-4.012739532681912e-15,-2.389292317606038e-16,-6.144705260064803e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313527814555637,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827996962021668,-1.5485925055505487,1.261676294219988,-1.3097178874796755,-1.57079206336037,-0.4120034310660299,0.0],"actuator_force":[0.007548627422238496,-21.609130521877432,-20.158558728321623,-2.425923675324043,0.0006562950568422821,-3.1315975519419226e-05,-0.29322102220193613],"issued_joint_targets_rad":[-1.9827994592189344,-1.5377608362076847,1.271822073345094,-1.3048847445124259,-1.5707936199590544,-0.41200314823007195],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.039999999998766,"joint_targets_rad":[-1.9827994592189344,-1.5377608362076847,1.271822073345094,-1.3048847445124259,-1.5707936199590544,-0.41200314823007195],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.059999999998755,"qpos":[-1.9828104779005364,-1.5388618771510618,1.2767468214303688,-1.3089266065365917,-1.5707882147699477,-0.4120089999872127,0.0029312669959414527,0.0001562343651007611,0.0031912983740091288,-0.0034268922797900028,0.002931293410065539,0.00015632965341103817,0.0031961644077358755,-0.003435492424873983,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,-2.6026232729689414e-17,2.281589672723905e-17,-1.7663506230092008e-07],"qvel":[3.806792304861013e-05,0.005405981343774491,-0.024959043198021637,0.020319961855428535,-2.718518460433604e-05,2.9556401091072847e-05,1.0719826432058753e-05,3.0515531638652365e-07,1.0087125208462283e-05,-1.0976633348095674e-05,1.0612948302104756e-05,-9.892467714675571e-08,7.917252881710097e-06,-1.1474499107869182e-05,-2.799766934197919e-17,-3.097584555167149e-17,1.1713707823025983e-14,9.905068759204368e-16,-1.026964690843393e-15,-6.6496421808716395e-09],"joint_position_rad":[-1.9828104779005364,-1.5388618771510618,1.2767468214303688,-1.3089266065365917,-1.5707882147699477,-0.4120089999872127],"joint_velocity_rad_s":[3.806792304861013e-05,0.005405981343774491,-0.024959043198021637,0.020319961855428535,-2.718518460433604e-05,2.9556401091072847e-05],"linkage_position_rad":[0.0029312669959414527,0.0001562343651007611,0.0031912983740091288,-0.0034268922797900028,0.002931293410065539,0.00015632965341103817,0.0031961644077358755,-0.003435492424873983],"tcp_position_m":[0.07433346140697743,0.5047125151328044,0.4335844362887279],"tcp_quaternion_wxyz":[-4.852214398509933e-05,0.7071085967018935,0.7071049550147803,0.00011273608552993403],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,-2.6026232729689414e-17,2.281589672723905e-17,-1.7663506230092008e-07],"object_linear_velocity_m_s":[-2.799766934197919e-17,-3.097584555167149e-17,1.1713707823025983e-14],"object_angular_velocity_rad_s":[9.905065128209956e-16,-1.0269650411059468e-15,-6.649642180871641e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313526604682867,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827994223135519,-1.5485890172804804,1.2616695777979925,-1.3097121823347169,-1.5707923433349305,-0.41200314793443266,0.0],"actuator_force":[0.006884004749281303,-21.616672796346847,-20.170869985543504,-2.4247840846054487,0.0006542359691366073,-2.9613719107146608e-05,-0.2932346841740204],"issued_joint_targets_rad":[-1.9827992031340977,-1.5377566042880308,1.2718153270930448,-1.3048796724026424,-1.5707938723469177,-0.4120028912094806],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.059999999998755,"joint_targets_rad":[-1.9827992031340977,-1.5377566042880308,1.2718153270930448,-1.3048796724026424,-1.5707938723469177,-0.4120028912094806],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.079999999998744,"qpos":[-1.982809701963551,-1.5387587663349782,1.2762726265964148,-1.3085404103592195,-1.5707887548022585,-0.4120084156370495,0.002931474077679776,0.00015624085851285817,0.0031914901899482255,-0.0034271065135199393,0.0029314979621020234,0.00015632705672555532,0.0031963093676560237,-0.003435715771347843,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,-1.907207264844203e-17,1.6017204779693235e-17,-1.770741372463803e-07],"qvel":[3.6954539307496575e-05,0.004922264180301145,-0.0225894860848216,0.018404149966724324,-2.5736157237006458e-05,2.7903082163080576e-05,9.889482820312261e-06,2.76392593743348e-07,9.305558675980793e-06,-1.0116231252628433e-05,9.792174364012361e-06,-9.120189856185598e-08,7.335503829365453e-06,-1.0564379647781688e-05,-2.043949725086465e-17,-2.4159770068548012e-17,1.1781708983284274e-14,8.103806231084082e-16,-7.075754852490319e-16,-2.6729475011586282e-08],"joint_position_rad":[-1.982809701963551,-1.5387587663349782,1.2762726265964148,-1.3085404103592195,-1.5707887548022585,-0.4120084156370495],"joint_velocity_rad_s":[3.6954539307496575e-05,0.004922264180301145,-0.0225894860848216,0.018404149966724324,-2.5736157237006458e-05,2.7903082163080576e-05],"linkage_position_rad":[0.002931474077679776,0.00015624085851285817,0.0031914901899482255,-0.0034271065135199393,0.0029314979621020234,0.00015632705672555532,0.0031963093676560237,-0.003435715771347843],"tcp_position_m":[0.07433408330412214,0.5047145469820595,0.4337220121467328],"tcp_quaternion_wxyz":[-4.55145676803555e-05,0.7071085296455163,0.7071050233434416,0.00010579910271868005],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,-1.907207264844203e-17,1.6017204779693235e-17,-1.770741372463803e-07],"object_linear_velocity_m_s":[-2.043949725086465e-17,-2.4159770068548012e-17,1.1781708983284274e-14],"object_angular_velocity_rad_s":[8.103803716654573e-16,-7.0757577326346e-16,-2.672947501158629e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313525473182308,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827991729995613,-1.548586046282454,1.261663734418889,-1.3097070737147136,-1.5707925975154118,-0.41200289092978415,0.0],"actuator_force":[0.006276112256728084,-21.623465567072344,-20.181989921123204,-2.423746674419476,0.0006522591471593842,-2.795458362925274e-05,-0.2932470102750116],"issued_joint_targets_rad":[-1.9827989707712246,-1.5377529137693793,1.271809412992646,-1.304875130536688,-1.570794101376956,-0.41200265794504703],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.079999999998744,"joint_targets_rad":[-1.9827989707712246,-1.5377529137693793,1.271809412992646,-1.304875130536688,-1.570794101376956,-0.41200265794504703],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.099999999998733,"qpos":[-1.9828089525637347,-1.5386648971510488,1.2758434679206458,-1.3081906313421832,-1.5707892650893662,-0.4120078648296102,0.0029316648054027996,0.0001562467232970951,0.003191667045691439,-0.0034273035062035656,0.0029316864007916353,0.00015632469073429344,0.0031964437815615535,-0.003435921029824901,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,-9.989161087232045e-18,9.320653840722445e-18,-1.7722776305975427e-07],"qvel":[3.573099798817852e-05,0.0044808944103440366,-0.020444062993222822,0.016668706727587246,-2.4319470326715496e-05,2.6299195965305737e-05,9.10140675345122e-06,2.502835545756971e-07,8.563759941790093e-06,-9.301904513604371e-06,9.012870746147238e-06,-8.3936743678593e-08,6.775626500216748e-06,-9.705575833226587e-06,-8.358496009331726e-18,-3.8751694261239673e-17,1.1790035655968966e-14,-1.3698553478513818e-16,-9.525912292076345e-16,-1.0744410224814735e-07],"joint_position_rad":[-1.9828089525637347,-1.5386648971510488,1.2758434679206458,-1.3081906313421832,-1.5707892650893662,-0.4120078648296102],"joint_velocity_rad_s":[3.573099798817852e-05,0.0044808944103440366,-0.020444062993222822,0.016668706727587246,-2.4319470326715496e-05,2.6299195965305737e-05],"linkage_position_rad":[0.0029316648054027996,0.0001562467232970951,0.003191667045691439,-0.0034273035062035656,0.0029316864007916353,0.00015632469073429344,0.0031964437815615535,-0.003435921029824901],"tcp_position_m":[0.07433464233824873,0.504716421377358,0.43384620847684374],"tcp_quaternion_wxyz":[-4.2634386578622966e-05,0.7071084600433356,0.7071050940895626,9.914656658682833e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,-9.989161087232045e-18,9.320653840722445e-18,-1.7722776305975427e-07],"object_linear_velocity_m_s":[-8.358496009331726e-18,-3.8751694261239673e-17,1.1790035655968966e-14],"object_angular_velocity_rad_s":[-1.369858744392539e-16,-9.525911827988477e-16,-1.0744410224814737e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313524419686556,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827989461652589,-1.5485835102174037,1.2616586383012636,-1.309702494906892,-1.5707928282397006,-0.412002657681123,0.0],"actuator_force":[0.00572039775624944,-21.629583896847635,-20.19203404147538,-2.4228024551131284,0.0006503718653902979,-2.6345352893031304e-05,-0.29325813169721976],"issued_joint_targets_rad":[-1.9827987599651284,-1.5377496876362335,1.271804217131926,-1.3048710598095419,-1.5707943091795196,-0.4120024462738552],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.099999999998733,"joint_targets_rad":[-1.9827987599651284,-1.5377496876362335,1.271804217131926,-1.3048710598095419,-1.5707943091795196,-0.4120024462738552],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.119999999998722,"qpos":[-1.9828082312059754,-1.538579457834443,1.2754550822987396,-1.3078738399108476,-1.5707897464531944,-0.4120073464294969,0.0029318400831623826,0.00015625202058423203,0.003191829724454357,-0.003427484282476314,0.0029318596073714545,0.0001563225358756281,0.0031965680190036224,-0.003436109303325822,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,-7.337589442322925e-18,3.0408570500266103e-18,-1.7763515849809964e-07],"qvel":[3.442510423853691e-05,0.004078324488903824,-0.01850172806060349,0.015096694882753173,-2.2941723107282585e-05,2.474993252342755e-05,8.358465556950105e-06,2.2659385529035834e-07,7.864439635380114e-06,-8.535993829867186e-06,8.27795975148797e-06,-7.713290213005038e-08,6.241842678408673e-06,-8.899828003629559e-06,-5.135999962994247e-18,-1.179072467303018e-17,1.1599909963001909e-14,4.0199983164015444e-16,-3.694998742081364e-16,-1.1627324731725751e-08],"joint_position_rad":[-1.9828082312059754,-1.538579457834443,1.2754550822987396,-1.3078738399108476,-1.5707897464531944,-0.4120073464294969],"joint_velocity_rad_s":[3.442510423853691e-05,0.004078324488903824,-0.01850172806060349,0.015096694882753173,-2.2941723107282585e-05,2.474993252342755e-05],"linkage_position_rad":[0.0029318400831623826,0.00015625202058423203,0.003191829724454357,-0.003427484282476314,0.0029318596073714545,0.0001563225358756281,0.0031965680190036224,-0.003436109303325822],"tcp_position_m":[0.07433514433469011,0.504718149271975,0.43395832745331453],"tcp_quaternion_wxyz":[-3.9885188783769536e-05,0.7071083888332484,0.7071051663232738,9.27887591347549e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,-7.337589442322925e-18,3.0408570500266103e-18,-1.7763515849809964e-07],"object_linear_velocity_m_s":[-5.135999962994247e-18,-1.179072467303018e-17,1.1599909963001909e-14],"object_angular_velocity_rad_s":[4.019997002970777e-16,-3.6950001719735394e-16,-1.1627324731725756e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313523442536208,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827987398733653,-1.548581340551841,1.2616541833771626,-1.3096983873327752,-1.5707930376407935,-0.4120024460253899,0.0],"actuator_force":[0.005212623524585069,-21.635095230357365,-20.201106618912945,-2.421943199239081,0.000648578511118103,-2.4791198853790775e-05,-0.293268166653234],"issued_joint_targets_rad":[-1.9827985687424063,-1.5377468608712088,1.2717996427410525,-1.304867408280691,-1.5707944976963606,-0.4120022542239628],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.119999999998722,"joint_targets_rad":[-1.9827985687424063,-1.5377468608712088,1.2717996427410525,-1.304867408280691,-1.5707944976963606,-0.4120022542239628],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.139999999998711,"qpos":[-1.9828075389375153,-1.5385017051167464,1.2751036075112312,-1.3075869287137625,-1.5707901998217766,-0.4120068592202383,0.002932000851551158,0.00015625680551338182,0.0031919790552492975,-0.0034276498856073948,0.0029320185017672274,0.0001563205740749412,0.0031966825337049237,-0.0034362817063092305,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,-8.248610898661939e-18,3.96940036363973e-18,-1.7801184293536078e-07],"qvel":[3.306086889557397e-05,0.0037112752261807542,-0.016743382973771242,0.013672760076046122,-2.1608020431683157e-05,2.3259107674033554e-05,7.661983247940075e-06,2.0510795004492934e-07,7.208852013838965e-06,-7.819374747600907e-06,7.588818922897716e-06,-7.078545326224849e-08,5.736807102955133e-06,-8.147488471938403e-06,-5.368442340103326e-18,-1.2442994896607506e-17,1.1499989890785644e-14,-3.120557550817594e-16,2.2248300080423967e-16,-4.673819694574343e-08],"joint_position_rad":[-1.9828075389375153,-1.5385017051167464,1.2751036075112312,-1.3075869287137625,-1.5707901998217766,-0.4120068592202383],"joint_velocity_rad_s":[3.306086889557397e-05,0.0037112752261807542,-0.016743382973771242,0.013672760076046122,-2.1608020431683157e-05,2.3259107674033554e-05],"linkage_position_rad":[0.002932000851551158,0.00015625680551338182,0.0031919790552492975,-0.0034276498856073948,0.0029320185017672274,0.0001563205740749412,0.0031966825337049237,-0.0034362817063092305],"tcp_position_m":[0.07433559465616035,0.5047197410555238,0.4340595443945193],"tcp_quaternion_wxyz":[-3.7268658994992604e-05,0.707108316820344,0.7071052392481876,8.673124930183057e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,-8.248610898661939e-18,3.96940036363973e-18,-1.7801184293536078e-07],"object_linear_velocity_m_s":[-5.368442340103326e-18,-1.2442994896607506e-17,1.1499989890785644e-14],"object_angular_velocity_rad_s":[-3.1205567624356716e-16,2.224831111324155e-16,-4.673819694574346e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313522539147376,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827985523365836,-1.5485794801638366,1.2616502800215237,-1.309694699462384,-1.5707932276634546,-0.4120022539905337,0.0],"actuator_force":[0.004748854305034911,-21.64006018465261,-20.209301789906476,-2.4211613819152262,0.0006468812041475758,-2.3295915127619082e-05,-0.29327722167677345],"issued_joint_targets_rad":[-1.9827983953055246,-1.5377443784609297,1.2717956074244317,-1.304864130223563,-1.570794668696271,-0.41200207999863186],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.139999999998711,"joint_targets_rad":[-1.9827983953055246,-1.5377443784609297,1.2717956074244317,-1.304864130223563,-1.570794668696271,-0.41200207999863186],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.1599999999987,"qpos":[-1.9828068764105522,-1.5384309589493415,1.2747855450186425,-1.307327082478457,-1.5707906262026232,-0.41200640192892934,0.0029321480615905416,0.00015626112782724156,0.0031921158863070453,-0.003427801354246344,0.0029321640162818198,0.00015631878866446776,0.0031967878334908874,-0.003436439342058793,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,-7.07009058272223e-18,3.25424051933957e-18,-1.7818905999831513e-07],"qvel":[3.165889706569388e-05,0.0033767210218063485,-0.01515170202142632,0.01238298421958922,-2.0322188692542775e-05,2.182936719617526e-05,7.012119586554101e-06,1.8562788901544665e-07,6.5971523326518075e-06,-7.1518261330067175e-06,6.945659557270188e-06,-6.488323547486105e-08,5.261969596682843e-06,-7.4478782329715825e-06,-3.933678023953321e-18,-8.448359025830886e-18,1.1344558667338125e-14,3.2905241226879503e-16,-3.6523249525639317e-16,-5.057887607534039e-09],"joint_position_rad":[-1.9828068764105522,-1.5384309589493415,1.2747855450186425,-1.307327082478457,-1.5707906262026232,-0.41200640192892934],"joint_velocity_rad_s":[3.165889706569388e-05,0.0033767210218063485,-0.01515170202142632,0.01238298421958922,-2.0322188692542775e-05,2.182936719617526e-05],"linkage_position_rad":[0.0029321480615905416,0.00015626112782724156,0.0031921158863070453,-0.003427801354246344,0.0029321640162818198,0.00015631878866446776,0.0031967878334908874,-0.003436439342058793],"tcp_position_m":[0.07433599822564803,0.5047212065463994,0.4341509201373559],"tcp_quaternion_wxyz":[-3.478491626421344e-05,0.7071082446901255,0.7071053121877898,8.097571867814772e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,-7.07009058272223e-18,3.25424051933957e-18,-1.7818905999831513e-07],"object_linear_velocity_m_s":[-3.933678023953321e-18,-8.448359025830886e-18,1.1344558667338125e-14],"object_angular_velocity_rad_s":[3.290522820749852e-16,-3.6523261259496973e-16,-5.057887607534042e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313521706299481,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827983819093487,-1.5485778813723252,1.2616468523418254,-1.309691385884428,-1.5707934000797645,-0.4120020797797356,0.0],"actuator_force":[0.00432544358091036,-21.64453325469003,-20.21670454506375,-2.4204501249444093,0.0006452802984995287,-2.186212273613819e-05,-0.2932853927893372],"issued_joint_targets_rad":[-1.9827982380180245,-1.5377421937467235,1.271792040859589,-1.3048611853111232,-1.5707948237896339,-0.41200192196165736],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.1599999999987,"joint_targets_rad":[-1.9827982380180245,-1.5377421937467235,1.271792040859589,-1.3048611853111232,-1.5707948237896339,-0.41200192196165736],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.179999999998689,"qpos":[-1.9828062439388712,-1.5383665975375644,1.274497726118612,-1.307091750664841,-1.570791026660039,-0.4120059732470985,0.0029322826552454205,0.00015626503240724106,0.003192241065093669,-0.003427939705315535,0.0029322970759284254,0.00015631716430098823,0.0031968844571206795,-0.003436583286187518,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,-6.964108879388505e-18,8.442895003689645e-18,-1.786223693478322e-07],"qvel":[3.023675099385653e-05,0.0030718747259284094,-0.013710971885473558,0.011214752224806425,-1.908696569594259e-05,2.0462366338128027e-05,6.408170901176651e-06,1.6797221713855657e-07,6.028681308094646e-06,-6.532319235447856e-06,6.347827170590626e-06,-5.941051762665671e-08,4.817864911836463e-06,-6.799566859910987e-06,-1.0762094177557756e-17,-1.1253337830543028e-17,1.1305700861476246e-14,2.862521386855993e-16,1.5605006440534332e-16,-2.0331121094893376e-08],"joint_position_rad":[-1.9828062439388712,-1.5383665975375644,1.274497726118612,-1.307091750664841,-1.570791026660039,-0.4120059732470985],"joint_velocity_rad_s":[3.023675099385653e-05,0.0030718747259284094,-0.013710971885473558,0.011214752224806425,-1.908696569594259e-05,2.0462366338128027e-05],"linkage_position_rad":[0.0029322826552454205,0.00015626503240724106,0.003192241065093669,-0.003427939705315535,0.0029322970759284254,0.00015631716430098823,0.0031968844571206795,-0.003436583286187518],"tcp_position_m":[0.07433635955123485,0.5047225549934409,0.4342334122021293],"tcp_quaternion_wxyz":[-3.243280366533888e-05,0.7071081730210015,0.707105384572655,7.552066986552765e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,-6.964108879388505e-18,8.442895003689645e-18,-1.786223693478322e-07],"object_linear_velocity_m_s":[-1.0762094177557756e-17,-1.1253337830543028e-17,1.1305700861476246e-14],"object_angular_velocity_rad_s":[2.8625219409033867e-16,1.5604996186008678e-16,-2.0331121094893393e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313520940359189,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982798227079291,-1.548576504314137,1.2616438359307005,-1.3096884065091559,-1.5707935565035933,-0.4120019217567324,0.0],"actuator_force":[0.003939018763048807,-21.64856344351665,-20.223391621633255,-2.419803144638081,0.0006437747923655479,-2.049145075488923e-05,-0.2932927665490511],"issued_joint_targets_rad":[-1.9827980953908049,-1.5377402670592364,1.271788882882423,-1.3048585379172015,-1.5707949644419035,-0.4120017786237582],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.179999999998689,"joint_targets_rad":[-1.9827980953908049,-1.5377402670592364,1.271788882882423,-1.3048585379172015,-1.5707949644419035,-0.4120017786237582],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.199999999998678,"qpos":[-1.9828056415487707,-1.5383080526874584,1.2742372811780396,-1.306878622660401,-1.5707914022959006,-0.41200557184826314,0.0029324055511805516,0.0001562685597543181,0.0031923554235565622,-0.003428065921746259,0.002932418584021984,0.00015631568688202098,0.003196972956629578,-0.003436714574895247,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,-2.0086501428493187e-18,9.134310106275376e-18,-1.788888275247738e-07],"qvel":[2.8809286217242542e-05,0.002794172467517224,-0.012406945113661482,0.010156630914289675,-1.790416712614747e-05,1.915892724261782e-05,5.848807623584852e-06,1.5197482595613586e-07,5.502188921431485e-06,-5.9592463194431715e-06,5.794038788320217e-06,-5.434853027419251e-08,4.404342276861183e-06,-6.200593801362038e-06,-1.0414585584614649e-17,-8.362757859675562e-19,1.1229373028533268e-14,1.2545095623460755e-15,9.881000003273271e-17,-8.172472720814968e-08],"joint_position_rad":[-1.9828056415487707,-1.5383080526874584,1.2742372811780396,-1.306878622660401,-1.5707914022959006,-0.41200557184826314],"joint_velocity_rad_s":[2.8809286217242542e-05,0.002794172467517224,-0.012406945113661482,0.010156630914289675,-1.790416712614747e-05,1.915892724261782e-05],"linkage_position_rad":[0.0029324055511805516,0.0001562685597543181,0.0031923554235565622,-0.003428065921746259,0.002932418584021984,0.00015631568688202098,0.003196972956629578,-0.003436714574895247],"tcp_position_m":[0.07433668275190189,0.5047237950846547,0.4343078848665307],"tcp_quaternion_wxyz":[-3.0210136120086076e-05,0.7071081022959751,0.7071054559285455,7.0362032753083e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,-2.0086501428493187e-18,9.134310106275376e-18,-1.788888275247738e-07],"object_linear_velocity_m_s":[-1.0414585584614649e-17,-8.362757859675562e-19,1.1229373028533268e-14],"object_angular_velocity_rad_s":[1.2545095962050083e-15,9.880955086892451e-17,-8.172472720814975e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931352023745296,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827980864586332,-1.5485753156067366,1.2616411760011705,-1.3096857258840207,-1.5707936984040154,-0.41200177843220376,0.0],"actuator_force":[0.0035864657879756123,-21.652194825562674,-20.229432308273317,-2.419214703238822,0.0006423626552987116,-1.918469459383232e-05,-0.29329942099218637],"issued_joint_targets_rad":[-1.9827979660694397,-1.5377385645869244,1.2717860818923286,-1.3048561565162138,-1.5707950919860787,-0.41200164862997846],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.199999999998678,"joint_targets_rad":[-1.9827979660694397,-1.5377385645869244,1.2717860818923286,-1.3048561565162138,-1.5707950919860787,-0.41200164862997846],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.219999999998667,"qpos":[-1.9828050690246009,-1.5382548054614058,1.2740016116745878,-1.3066856052841285,-1.570791754233473,-0.41200519640259087,0.0029325176346425424,0.0001562717464208832,0.0031924597674917745,-0.003428180944011372,0.002932529411911299,0.00015631434346346433,0.0031970538840492076,-0.003436834197014987,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,2.8386508884506355e-18,8.029591072023718e-18,-1.7919870289594795e-07],"qvel":[2.738896081018537e-05,0.002541258704557899,-0.011226706255376487,0.00919825903225176,-1.6774832237357685e-05,1.7919176650608223e-05,5.332260983704862e-06,1.3748385485921676e-07,5.016010794382877e-06,-5.4306004092709195e-06,5.282569524752788e-06,-4.9676419652899685e-08,4.020747475906236e-06,-5.6486408856291875e-06,-8.092219953352242e-18,1.3502257129762192e-18,1.1179412992425135e-14,-4.7914856105690574e-17,-2.973451498060693e-16,-8.844040035499456e-09],"joint_position_rad":[-1.9828050690246009,-1.5382548054614058,1.2740016116745878,-1.3066856052841285,-1.570791754233473,-0.41200519640259087],"joint_velocity_rad_s":[2.738896081018537e-05,0.002541258704557899,-0.011226706255376487,0.00919825903225176,-1.6774832237357685e-05,1.7919176650608223e-05],"linkage_position_rad":[0.0029325176346425424,0.0001562717464208832,0.0031924597674917745,-0.003428180944011372,0.002932529411911299,0.00015631434346346433,0.0031970538840492076,-0.003436834197014987],"tcp_position_m":[0.07433697158361724,0.5047249349612596,0.4343751182556311],"tcp_quaternion_wxyz":[-2.8113911842293732e-05,0.7071080329134825,0.7071055258654191,6.549368208063292e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,2.8386508884506355e-18,8.029591072023718e-18,-1.7919870289594795e-07],"object_linear_velocity_m_s":[-8.092219953352242e-18,1.3502257129762192e-18,1.1179412992425135e-14],"object_angular_velocity_rad_s":[-4.79149628154459e-17,-2.973451325832801e-16,-8.844040035499466e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313519593598864,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982797958775682,-1.5485742872457302,1.2616388258381066,-1.3096833126053002,-1.5707938271177275,-0.4120016484511694,0.0],"actuator_force":[0.0032649135137035046,-21.655467050471998,-20.234889170811584,-2.418679563810997,0.0006410410965145275,-1.7941954325806364e-05,-0.2933054264802344],"issued_joint_targets_rad":[-1.9827978488224784,-1.5377370574372873,1.2717835935222266,-1.304854013166563,-1.5707952076342058,-0.4120015307480635],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.219999999998667,"joint_targets_rad":[-1.9827978488224784,-1.5377370574372873,1.2717835935222266,-1.304854013166563,-1.5707952076342058,-0.4120015307480635],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.239999999998656,"qpos":[-1.9828045259492666,-1.5382063821348582,1.273788364802253,-1.3065108023869498,-1.570792083603863,-0.41200484558903633,0.002932619750570074,0.00015627462539987805,0.003192554869148236,-0.0034282856646242646,0.002932630391953118,0.0001563131221785619,0.0031971277816003753,-0.0034369430889476505,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,2.1260322408542875e-17,2.3633889898791408e-17,-1.795848440984179e-07],"qvel":[2.598611810931397e-05,0.00231097168267677,-0.01015854968869671,0.008330247362345462,-1.5699350987200567e-05,1.6742665923065083e-05,4.85646872522773e-06,1.2436064889050774e-07,4.568205428122907e-06,-4.944114256974709e-06,4.811398230011353e-06,-4.537219894442678e-08,3.666066068999053e-06,-5.141166639766928e-06,-3.666016635394303e-17,3.691505887901981e-17,1.1135004071440128e-14,1.4466682166931413e-15,1.0785142915134293e-15,-3.555026581887026e-08],"joint_position_rad":[-1.9828045259492666,-1.5382063821348582,1.273788364802253,-1.3065108023869498,-1.570792083603863,-0.41200484558903633],"joint_velocity_rad_s":[2.598611810931397e-05,0.00231097168267677,-0.01015854968869671,0.008330247362345462,-1.5699350987200567e-05,1.6742665923065083e-05],"linkage_position_rad":[0.002932619750570074,0.00015627462539987805,0.003192554869148236,-0.0034282856646242646,0.002932630391953118,0.0001563131221785619,0.0031971277816003753,-0.0034369430889476505],"tcp_position_m":[0.07433722946516083,0.5047259822356384,0.43443581654427726],"tcp_quaternion_wxyz":[-2.614049219760695e-05,0.707107965197369,0.7071055940673506,6.0907877978836346e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,2.1260322408542875e-17,2.3633889898791408e-17,-1.795848440984179e-07],"object_linear_velocity_m_s":[-3.666016635394303e-17,3.691505887901981e-17,1.1135004071440128e-14],"object_angular_velocity_rad_s":[1.4466686023823098e-15,1.0785137734256093e-15,-3.55502658188703e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313519004805788,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827978428665398,-1.5485733956953338,1.2616367455110973,-1.3096811388113743,-1.5707939438605065,-0.41200153058136246,0.0],"actuator_force":[0.0029717182096646866,-21.65841579402195,-20.239818706832466,-2.4181929484467446,0.0006398067769168847,-1.6762755393529005e-05,-0.2933108464609358],"issued_joint_targets_rad":[-1.9827977425306715,-1.5377357208570517,1.2717813795280892,-1.3048520830652826,-1.5707953124879728,-0.4120014238577491],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.239999999998656,"joint_targets_rad":[-1.9827977425306715,-1.5377357208570517,1.2717813795280892,-1.3048520830652826,-1.5707953124879728,-0.4120014238577491],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.259999999998644,"qpos":[-1.9828040117400656,-1.5381623504434458,1.273595410415036,-1.3063524963554853,-1.5707923915347886,-0.41200451810528327,0.002932712699211633,0.00015627722647415084,0.0031926414623548566,-0.003428380924904248,0.0029327223130063123,0.00015631201216010718,0.0031971951746266243,-0.0034370421318409895,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,1.980971506350445e-17,2.143140151097946e-17,-1.797196399208366e-07],"qvel":[2.4609243852086755e-05,0.0021013294346307653,-0.009191868217373873,0.0075440880458804045,-1.467757468427549e-05,1.5628475364976508e-05,4.4191879605537515e-06,1.124786789458306e-07,4.156661011544328e-06,-4.497368894027075e-06,4.3783203684621465e-06,-4.14134037932633e-08,3.3390354585734686e-06,-4.675508745525733e-06,-2.4481889964358902e-17,2.189608288787822e-17,1.1097534044359028e-14,-7.785338179365883e-16,-9.607955490406447e-16,-3.847158441703321e-09],"joint_position_rad":[-1.9828040117400656,-1.5381623504434458,1.273595410415036,-1.3063524963554853,-1.5707923915347886,-0.41200451810528327],"joint_velocity_rad_s":[2.4609243852086755e-05,0.0021013294346307653,-0.009191868217373873,0.0075440880458804045,-1.467757468427549e-05,1.5628475364976508e-05],"linkage_position_rad":[0.002932712699211633,0.00015627722647415084,0.0031926414623548566,-0.003428380924904248,0.0029327223130063123,0.00015631201216010718,0.0031971951746266243,-0.0034370421318409895],"tcp_position_m":[0.0743374595033094,0.5047269440120729,0.4344906153587824],"tcp_quaternion_wxyz":[-2.4285754150446426e-05,0.7071078994060154,0.7071056602833465,5.6595639711966894e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,1.980971506350445e-17,2.143140151097946e-17,-1.797196399208366e-07],"object_linear_velocity_m_s":[-2.4481889964358902e-17,2.189608288787822e-17,1.1097534044359028e-14],"object_angular_velocity_rad_s":[-7.785341634490991e-16,-9.607952690525266e-16,-3.847158441703325e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313518467146839,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827977376671135,-1.5485726211374928,1.2616349008034795,-1.3096791797455494,-1.5707940497377642,-0.4120014237025162,0.0],"actuator_force":[0.002704448363147094,-21.66107316194666,-20.244271936163386,-2.4177504996200696,0.0006386559805378056,-1.5646152945691938e-05,-0.29331573815254236],"issued_joint_targets_rad":[-1.9827976461770702,-1.537734533583508,1.2717794068604127,-1.3048503441633563,-1.570795407548444,-0.4120013269409108],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.259999999998644,"joint_targets_rad":[-1.9827976461770702,-1.537734533583508,1.2717794068604127,-1.3048503441633563,-1.570795407548444,-0.4120013269409108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.279999999998633,"qpos":[-1.9828035256802403,-1.5381223161077762,1.2734208201009414,-1.3062091313433835,-1.5707926791413471,-0.41200421267578535,0.002932797233674179,0.00015627957653156495,0.0031927202395931405,-0.0034284675134991388,0.002932805917868368,0.00015631100346562228,0.0031972565666720594,-0.00343713215048622,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,1.5465600841253702e-17,3.35782912500307e-17,-1.8019926577222294e-07],"qvel":[2.326519889059572e-05,0.0019105164108241942,-0.008317051569934609,0.006832072271317493,-1.3708912023938518e-05,1.4575304599129804e-05,4.018081860550062e-06,1.0172270574153317e-07,3.7791769295808556e-06,-4.087875065123501e-06,3.981034748621915e-06,-3.777761881148712e-08,3.038232099785629e-06,-4.248963449263713e-06,-4.110564446928603e-17,2.06173697424792e-17,1.1133616292659346e-14,-7.713866206820037e-16,-6.182683866044672e-16,-1.5464369756456294e-08],"joint_position_rad":[-1.9828035256802403,-1.5381223161077762,1.2734208201009414,-1.3062091313433835,-1.5707926791413471,-0.41200421267578535],"joint_velocity_rad_s":[2.326519889059572e-05,0.0019105164108241942,-0.008317051569934609,0.006832072271317493,-1.3708912023938518e-05,1.4575304599129804e-05],"linkage_position_rad":[0.002932797233674179,0.00015627957653156495,0.0031927202395931405,-0.0034284675134991388,0.002932805917868368,0.00015631100346562228,0.0031972565666720594,-0.00343713215048622],"tcp_position_m":[0.07433766451708908,0.504727826909349,0.4345400884562626],"tcp_quaternion_wxyz":[-2.2545218975987457e-05,0.7071078357406325,0.7071057243190141,5.254706155973363e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,1.5465600841253702e-17,3.35782912500307e-17,-1.8019926577222294e-07],"object_linear_velocity_m_s":[-4.110564446928603e-17,2.06173697424792e-17,1.1133616292659346e-14],"object_angular_velocity_rad_s":[-7.713868445435075e-16,-6.182681081194909e-16,-1.5464369756456313e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313517976812434,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827976422054905,-1.5485719468514862,1.2616332623201638,-1.3096774133781526,-1.5707941457542505,-0.4120013267965112,0.0],"actuator_force":[0.0024608699432064896,-21.663468051749533,-20.248294933581292,-2.4173482445163472,0.0006375847508479637,-1.45908228148528e-05,-0.2933201531601732],"issued_joint_targets_rad":[-1.9827975588379372,-1.5377334773041456,1.2717776468866593,-1.3048487768328292,-1.570795493724998,-0.4120012390725186],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.279999999998633,"joint_targets_rad":[-1.9827975588379372,-1.5377334773041456,1.2717776468866593,-1.3048487768328292,-1.570795493724998,-0.4120012390725186],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.299999999998622,"qpos":[-1.9828030669466146,-1.5380859196219254,1.2732628481955997,-1.3060792980703926,-1.5707929475185152,-0.41200392805816566,0.0029328740589422944,0.00015628169984837763,0.0031927918505671032,-0.003428546166218238,0.002932881902192792,0.00015631008700664096,0.0031973124362352384,-0.0034372139134908816,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,2.1195009878399498e-17,2.72099848930204e-17,-1.8050185456637645e-07],"qvel":[2.1959428899922035e-05,0.0017368707978847916,-0.007525393987018571,0.0061872155773433244,-1.2792412223728799e-05,1.3581550579257322e-05,3.6507853747166203e-06,9.198774527436808e-08,3.4335257423897815e-06,-3.7131362291220876e-06,3.617209345001201e-06,-3.4442671424462315e-08,2.762139457662261e-06,-3.858842183174552e-06,-4.0994860453543906e-17,4.767885497094686e-17,1.1044798450689332e-14,2.2681737337665273e-15,-1.7281181667639456e-16,-6.216191393942751e-08],"joint_position_rad":[-1.9828030669466146,-1.5380859196219254,1.2732628481955997,-1.3060792980703926,-1.5707929475185152,-0.41200392805816566],"joint_velocity_rad_s":[2.1959428899922035e-05,0.0017368707978847916,-0.007525393987018571,0.0061872155773433244,-1.2792412223728799e-05,1.3581550579257322e-05],"linkage_position_rad":[0.0029328740589422944,0.00015628169984837763,0.0031927918505671032,-0.003428546166218238,0.002932881902192792,0.00015631008700664096,0.0031973124362352384,-0.0034372139134908816],"tcp_position_m":[0.07433784706091627,0.5047286370845104,0.4345847537522721],"tcp_quaternion_wxyz":[-2.091416043243243e-05,0.7071077743527686,0.7071057860290463,4.875157864508578e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,2.1195009878399498e-17,2.72099848930204e-17,-1.8050185456637645e-07],"object_linear_velocity_m_s":[-4.0994860453543906e-17,4.767885497094686e-17,1.1044798450689332e-14],"object_angular_velocity_rad_s":[2.2681736679978273e-15,-1.7281263286046904e-16,-6.21619139394276e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313517530147415,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827975555947048,-1.548571358700882,1.2616318047434671,-1.3096758200792415,-1.570794232822967,-0.41200123893832874,0.0],"actuator_force":[0.0022389322593880934,-21.665626477067235,-20.25192930945741,-2.4169825621588643,0.0006365889964854432,-1.3595139449762428e-05,-0.2933241380303529],"issued_joint_targets_rad":[-1.9827974796744186,-1.5377325362058005,1.271776074739017,-1.3048473635781224,-1.5707955718435134,-0.4120011594123459],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.299999999998622,"joint_targets_rad":[-1.9827974796744186,-1.5377325362058005,1.271776074739017,-1.3048473635781224,-1.5707955718435134,-0.4120011594123459],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.319999999998611,"qpos":[-1.9828026346336787,-1.5380528332909054,1.2731199145607288,-1.3059617200438622,-1.570793197735147,-0.4120036630482042,0.0029329438320016142,0.00015628361834477722,0.003192856901899878,-0.0034286175668418756,0.0029329509145202474,0.00015630925448145214,0.0031973632348169002,-0.003437288134386723,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,2.2784793542396406e-17,1.9256668015295776e-17,-1.8073755368478175e-07],"qvel":[2.0696152579191604e-05,0.0015788725565729766,-0.006809010137538614,0.005603190078149686,-1.1926836694989089e-05,1.2645374661921874e-05,3.3149542402389e-06,8.317834777227584e-08,3.1174997735479004e-06,-3.370693549501742e-06,3.2845303971864685e-06,-3.1387146691381685e-08,2.509198514741835e-06,-3.5025164989912296e-06,-2.4889626319256498e-17,2.639412862789193e-17,1.1017042875073703e-14,-7.055220322966263e-16,-1.2310998616734943e-15,-6.7270026385443935e-09],"joint_position_rad":[-1.9828026346336787,-1.5380528332909054,1.2731199145607288,-1.3059617200438622,-1.570793197735147,-0.4120036630482042],"joint_velocity_rad_s":[2.0696152579191604e-05,0.0015788725565729766,-0.006809010137538614,0.005603190078149686,-1.1926836694989089e-05,1.2645374661921874e-05],"linkage_position_rad":[0.0029329438320016142,0.00015628361834477722,0.003192856901899878,-0.0034286175668418756,0.0029329509145202474,0.00015630925448145214,0.0031973632348169002,-0.003437288134386723],"tcp_position_m":[0.07433800944649893,0.5047293802571969,0.4346250787604595],"tcp_quaternion_wxyz":[-1.93876951961626e-05,0.7071077153510632,0.7071058453104742,4.519818953738028e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,2.2784793542396406e-17,1.9256668015295776e-17,-1.8073755368478175e-07],"object_linear_velocity_m_s":[-2.4889626319256498e-17,2.639412862789193e-17,1.1017042875073703e-14],"object_angular_velocity_rad_s":[-7.055224775676154e-16,-1.2310996063382166e-15,-6.727002638544404e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313517123675659,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827974770259262,-1.5485708447088744,1.261630506211487,-1.3096743823345396,-1.5707943117733305,-0.4120011592877577,0.0],"actuator_force":[0.0020367544734654075,-21.6675718585675,-20.255212643467985,-2.4166501531536824,0.000635664577771422,-1.2657242962177406e-05,-0.2933277347492802],"issued_joint_targets_rad":[-1.9827974079249209,-1.5377316965978367,1.2717746687663163,-1.3048460887852,-1.5707956426538687,-0.41200108719737416],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.319999999998611,"joint_targets_rad":[-1.9827974079249209,-1.5377316965978367,1.2717746687663163,-1.3048460887852,-1.5707956426538687,-0.41200108719737416],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.3399999999986,"qpos":[-1.9828022277744635,-1.5380227585020685,1.2729905889674829,-1.3058552410706024,-1.5707934308292568,-0.4120034164836161,0.00293300716277622,0.00015628535181468344,0.0031929159576683155,-0.0034286823486323306,0.0029330135571322634,0.0001563084983123045,0.0031974093859554733,-0.0034373554734367486,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,3.607446469266755e-17,4.255746997975519e-17,-1.8118173673046878e-07],"qvel":[1.9478529907671666e-05,0.00143513219080533,-0.00616075865720682,0.005074262979801274,-1.111072070961445e-05,1.1764760055713965e-05,3.008300883886322e-06,7.520757608566305e-08,2.8289442303147725e-06,-3.0581612116156344e-06,2.9807384561694784e-06,-2.8590428846384888e-08,2.277846768713424e-06,-3.17744836660541e-06,-6.053395219001688e-17,4.8460857979031836e-17,1.0907408351391972e-14,1.7586864096410792e-16,4.779468442365444e-16,-2.7040439776898107e-08],"joint_position_rad":[-1.9828022277744635,-1.5380227585020685,1.2729905889674829,-1.3058552410706024,-1.5707934308292568,-0.4120034164836161],"joint_velocity_rad_s":[1.9478529907671666e-05,0.00143513219080533,-0.00616075865720682,0.005074262979801274,-1.111072070961445e-05,1.1764760055713965e-05],"linkage_position_rad":[0.00293300716277622,0.00015628535181468344,0.0031929159576683155,-0.0034286823486323306,0.0029330135571322634,0.0001563084983123045,0.0031974093859554733,-0.0034373554734367486],"tcp_position_m":[0.07433815376343139,0.5047300617341153,0.43466148550169514],"tcp_quaternion_wxyz":[-1.7960858003291514e-05,0.7071076588073049,0.7071059020966306,4.1875641569790195e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,3.607446469266755e-17,4.255746997975519e-17,-1.8118173673046878e-07],"object_linear_velocity_m_s":[-6.053395219001688e-17,4.8460857979031836e-17,1.0907408351391972e-14],"object_angular_velocity_rad_s":[1.7586881185303023e-16,4.779467824590815e-16,-2.7040439776898156e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313516754115168,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827974057620754,-1.5485703947063978,1.261629347798049,-1.309673084498407,-1.5707943833586586,-0.41200108708179894,0.0],"actuator_force":[0.0018526128133089514,-21.669325284980914,-20.258178875985323,-2.4163480118824054,0.0006348073700337409,-1.1775097021882175e-05,-0.2933309811921245],"issued_joint_targets_rad":[-1.9827973428981378,-1.537730946596648,1.271773410072595,-1.3048449385031424,-1.5707957068367937,-0.41200102173484376],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.3399999999986,"joint_targets_rad":[-1.9827973428981378,-1.537730946596648,1.271773410072595,-1.3048449385031424,-1.5707957068367937,-0.41200102173484376],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.359999999998589,"qpos":[-1.9828018453585317,-1.537995423215447,1.2728735769384623,-1.3057588139391294,-1.570793647804405,-0.41200318724679896,0.002933064615651533,0.0001562869181335658,0.003192969540552035,-0.003428741096351647,0.0029330703874982478,0.00015630781158646094,0.003197451285015052,-0.0034374165398887596,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,3.2853135000105765e-17,3.125274251009064e-17,-1.813371497923757e-07],"qvel":[1.8308812050245204e-05,0.0013043802445688504,-0.005574172654518459,0.004595240812634109,-1.0342426156629425e-05,1.0937560795950971e-05,2.7286200377377036e-06,6.79966203688509e-08,2.565782312342235e-06,-2.773246827358132e-06,2.703654109819701e-06,-2.6032900583572078e-08,2.066547083882855e-06,-2.881210748363096e-06,1.2026590705423505e-17,1.718183497411964e-16,1.0850509421379933e-14,1.1060996107086446e-14,-5.58512394880792e-15,-1.0869408302871561e-07],"joint_position_rad":[-1.9828018453585317,-1.537995423215447,1.2728735769384623,-1.3057588139391294,-1.570793647804405,-0.41200318724679896],"joint_velocity_rad_s":[1.8308812050245204e-05,0.0013043802445688504,-0.005574172654518459,0.004595240812634109,-1.0342426156629425e-05,1.0937560795950971e-05],"linkage_position_rad":[0.002933064615651533,0.0001562869181335658,0.003192969540552035,-0.003428741096351647,0.0029330703874982478,0.00015630781158646094,0.003197451285015052,-0.0034374165398887596],"tcp_position_m":[0.07433828189845802,0.504730686433301,0.43469435493452074],"tcp_quaternion_wxyz":[-1.6628663626747658e-05,0.707107604761836,0.7071059563517713,3.877258407709795e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,3.2853135000105765e-17,3.125274251009064e-17,-1.813371497923757e-07],"object_linear_velocity_m_s":[1.2026590705423505e-17,1.718183497411964e-16,1.0850509421379933e-14],"object_angular_velocity_rad_s":[1.1060994074710849e-14,-5.585127953204695e-15,-1.0869408302871581e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313516418385635,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827973411318616,-1.5485700000402298,1.2616283130769015,-1.3096719125785403,-1.570794448263007,-0.4120010216277143,0.0],"actuator_force":[0.0016849285202624742,-21.67090574739359,-20.26085866131416,-2.416073400968912,0.000634013314652293,-1.094653725886019e-05,-0.2933339115282268],"issued_joint_targets_rad":[-1.9827972839666832,-1.537730275860978,1.2717722821278212,-1.3048439002535637,-1.5707957650101332,-0.4120009623959085],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.359999999998589,"joint_targets_rad":[-1.9827972839666832,-1.537730275860978,1.2717722821278212,-1.3048439002535637,-1.5707957650101332,-0.4120009623959085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.379999999998578,"qpos":[-1.9828014863473913,-1.537970579658262,1.2727677069148644,-1.3056714901633155,-1.5707938496270224,-0.41200297426670474,0.0029331167114025783,0.00015628833344499786,0.0031930181334094703,-0.0034287943485997625,0.002933121920135007,0.00015630718800134266,0.0031974892995257713,-0.003437471894560234,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,5.861401673327893e-17,3.911430605121755e-18,-1.817492847786103e-07],"qvel":[1.7188474432652932e-05,0.0011854575126454582,-0.005043396578784809,0.004161418855426909,-9.620186572185874e-06,1.0161543251913572e-05,2.4738061009181062e-06,6.147378797108935e-08,2.326030789235548e-06,-2.513769970099833e-06,2.4511955044147515e-06,-2.36959129988562e-08,1.8738082498496123e-06,-2.6115017121788677e-06,-8.310390451865181e-18,6.811075948285763e-17,1.0808876057956491e-14,-1.4598753622432648e-15,-1.1062808104279964e-15,-1.1762594440718694e-08],"joint_position_rad":[-1.9828014863473913,-1.537970579658262,1.2727677069148644,-1.3056714901633155,-1.5707938496270224,-0.41200297426670474],"joint_velocity_rad_s":[1.7188474432652932e-05,0.0011854575126454582,-0.005043396578784809,0.004161418855426909,-9.620186572185874e-06,1.0161543251913572e-05],"linkage_position_rad":[0.0029331167114025783,0.00015628833344499786,0.0031930181334094703,-0.0034287943485997625,0.002933121920135007,0.00015630718800134266,0.0031974892995257713,-0.003437471894560234],"tcp_position_m":[0.07433839555340294,0.5047312589079039,0.4347240309536633],"tcp_quaternion_wxyz":[-1.5386157556566594e-05,0.7071075532283577,0.7071060080663025,3.587769407143472e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,5.861401673327893e-17,3.911430605121755e-18,-1.817492847786103e-07],"object_linear_velocity_m_s":[-8.310390451865181e-18,6.811075948285763e-17,1.0808876057956491e-14],"object_angular_velocity_rad_s":[-1.45987576446668e-15,-1.1062802783864137e-15,-1.1762594440718717e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313516113610538,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827972825242415,-1.5485696533305515,1.2616273877558477,-1.3096708540479496,-1.5707945071074245,-0.4120009622966811,0.0],"actuator_force":[0.0015322565268434118,-21.672330349637377,-20.26327968651958,-2.4158238278598674,0.0006332784561209337,-1.0169313384267298e-05,-0.293336556584906],"issued_joint_targets_rad":[-1.982797230561277,-1.5377296753694352,1.2717712704388116,-1.304842962863968,-1.570795817734562,-0.4120009086098335],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.379999999998578,"joint_targets_rad":[-1.982797230561277,-1.5377296753694352,1.2717712704388116,-1.304842962863968,-1.570795817734562,-0.4120009086098335],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.399999999998567,"qpos":[-1.9828011496876057,-1.5379480022092744,1.272671918626976,-1.3055924106884929,-1.5707940372245346,-0.4120027765199746,0.002933163929388474,0.0001562896123294002,0.003193062181149014,-0.003428842600354294,0.0029331686287389098,0.00015630662181330196,0.003197523769933064,-0.0034375220525783463,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999845,3.965133206847865e-17,7.613887578449382e-18,-1.8213035147880698e-07],"qvel":[1.6118334478901167e-05,0.0010773059429011942,-0.004563128891761678,0.003768535274054452,-8.942145336499817e-06,9.434421164264318e-06,2.241864279382634e-06,5.557404107076634e-08,2.107810894884017e-06,-2.277669812470931e-06,2.221389605063312e-06,-2.156199929221009e-08,1.6981991628363415e-06,-2.3661527540909568e-06,-2.403899179562653e-17,5.436022004374523e-17,1.079499827014868e-14,-1.9305894690137702e-15,7.539385999344209e-16,-4.7281938730334564e-08],"joint_position_rad":[-1.9828011496876057,-1.5379480022092744,1.272671918626976,-1.3055924106884929,-1.5707940372245346,-0.4120027765199746],"joint_velocity_rad_s":[1.6118334478901167e-05,0.0010773059429011942,-0.004563128891761678,0.003768535274054452,-8.942145336499817e-06,9.434421164264318e-06],"linkage_position_rad":[0.002933163929388474,0.0001562896123294002,0.003193062181149014,-0.003428842600354294,0.0029331686287389098,0.00015630662181330196,0.003197523769933064,-0.0034375220525783463],"tcp_position_m":[0.07433849626179449,0.5047317833693037,0.4347508239987895],"tcp_quaternion_wxyz":[-1.4228456996861104e-05,0.7071075041981837,0.7071060572525653,3.317977830382946e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999845,3.965133206847865e-17,7.613887578449382e-18,-1.8213035147880698e-07],"object_linear_velocity_m_s":[-2.403899179562653e-17,5.436022004374523e-17,1.079499827014868e-14],"object_angular_velocity_rad_s":[-1.9305891951034396e-15,7.539393069218335e-16,-4.728193873033466e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313515837114972,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982797229383279,-1.548569348269332,1.261626559369019,-1.309669897680403,-1.5707945604556626,-0.412000908517989,0.0],"actuator_force":[0.0013932748615843593,-21.673614497275594,-20.26546695920888,-2.415597023360533,0.0006325989696733814,-9.44112363754357e-06,-0.2933389441757914],"issued_joint_targets_rad":[-1.982797182165443,-1.5377291372330637,1.271770362270399,-1.3048421163217392,-1.5707958655187995,-0.4120008598587093],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.399999999998567,"joint_targets_rad":[-1.982797182165443,-1.5377291372330637,1.271770362270399,-1.3048421163217392,-1.5707958655187995,-0.4120008598587093],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.419999999998556,"qpos":[-1.982800834321872,-1.5379274854591984,1.2725852525569812,-1.3055207974701766,-1.5707942114841593,-0.4120025930314554,0.0029332067099045555,0.00015629076795604103,0.003193102092779899,-0.003428886305629904,0.0029332109484815653,0.0001563061077907154,0.0031975550106284442,-0.0034375674862411037,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,2.3138915031985364e-17,8.772008406091772e-18,-1.8230963024564295e-07],"qvel":[1.5098655462837937e-05,0.0009789602024178649,-0.0041285700290463415,0.0034127295401383696,-8.306387933901509e-06,8.753884951040352e-06,2.030916870244366e-06,5.0238388271542683e-08,1.9093542721211973e-06,-2.0630112778096887e-06,2.0123786284698915e-06,-1.961471795433749e-08,1.538359010816093e-06,-2.143131523069226e-06,-1.0210841538864605e-17,3.102117485608126e-17,1.1475009872731591e-14,-1.251220705332723e-15,-1.491119166276348e-16,-5.116729946642507e-09],"joint_position_rad":[-1.982800834321872,-1.5379274854591984,1.2725852525569812,-1.3055207974701766,-1.5707942114841593,-0.4120025930314554],"joint_velocity_rad_s":[1.5098655462837937e-05,0.0009789602024178649,-0.0041285700290463415,0.0034127295401383696,-8.306387933901509e-06,8.753884951040352e-06],"linkage_position_rad":[0.0029332067099045555,0.00015629076795604103,0.003193102092779899,-0.003428886305629904,0.0029332109484815653,0.0001563061077907154,0.0031975550106284442,-0.0034375674862411037],"tcp_position_m":[0.07433858540422973,0.5047322637094116,0.43477501431154686],"tcp_quaternion_wxyz":[-1.3150783588974825e-05,0.7071074576439949,0.7071061039411166,3.066785512871073e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,2.3138915031985364e-17,8.772008406091772e-18,-1.8230963024564295e-07],"object_linear_velocity_m_s":[-1.0210841538864605e-17,3.102117485608126e-17,1.1475009872731591e-14],"object_angular_velocity_rad_s":[-1.2512207597914844e-15,-1.4911146017166543e-16,-5.1167299466425065e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313515586420601,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827971812033927,-1.5485690794524207,1.2616258170175112,-1.309669033406116,-1.570794608819384,-0.4120008597737537,0.0],"actuator_force":[0.001266774773284851,-21.67477206741205,-20.267443067321437,-2.415390921983544,0.0006319711811784146,-8.759644259725974e-06,-0.2933410993967996],"issued_joint_targets_rad":[-1.982797138310676,-1.5377286545371018,1.2717695464086445,-1.3048413516459583,-1.5707959088243597,-0.4120008156726287],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.419999999998556,"joint_targets_rad":[-1.982797138310676,-1.5377286545371018,1.2717695464086445,-1.3048413516459583,-1.5707959088243597,-0.4120008156726287],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.439999999998545,"qpos":[-1.9828005391982921,-1.5379088424340501,1.2725068403929702,-1.3054559458438795,-1.5707943732522665,-0.412002422874203,0.002933245456609943,0.0001562918122202378,0.0031931382435610527,-0.0034289258801555376,0.0029332492783862387,0.00015630564116991233,0.003197583311177912,-0.00343760862785172,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,1.0188891696636028e-17,6.936202467580373e-18,-1.827479806197262e-07],"qvel":[1.4129237764797464e-05,0.0008895398759723451,-0.0037353751791119765,0.0030905047343293955,-7.710969022345127e-06,8.117626086810234e-06,1.8392058100959244e-06,4.5413287555206525e-08,1.7290051182190497e-06,-1.8679856916177668e-06,1.8224227183334542e-06,-1.7838768269472402e-08,1.3930025914806662e-06,-1.9405424159647905e-06,-8.445908800675397e-18,1.479052902625679e-17,1.166791112326021e-14,-1.0681634299892746e-15,-3.7723760338895323e-16,-2.0567648834285336e-08],"joint_position_rad":[-1.9828005391982921,-1.5379088424340501,1.2725068403929702,-1.3054559458438795,-1.5707943732522665,-0.412002422874203],"joint_velocity_rad_s":[1.4129237764797464e-05,0.0008895398759723451,-0.0037353751791119765,0.0030905047343293955,-7.710969022345127e-06,8.117626086810234e-06],"linkage_position_rad":[0.002933245456609943,0.0001562918122202378,0.0031931382435610527,-0.0034289258801555376,0.0029332492783862387,0.00015630564116991233,0.003197583311177912,-0.00343760862785172],"tcp_position_m":[0.07433866422252307,0.5047327035220535,0.4347968548752228],"tcp_quaternion_wxyz":[-1.2148489095695298e-05,0.7071074135231354,0.7071061481774694,2.8331219171044327e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,1.0188891696636028e-17,6.936202467580373e-18,-1.827479806197262e-07],"object_linear_velocity_m_s":[-8.445908800675397e-18,1.479052902625679e-17,1.166791112326021e-14],"object_angular_velocity_rad_s":[-1.0681635681533466e-15,-3.7723721256038533e-16,-2.0567648834285336e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313515359238235,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827971375249733,-1.548568842239511,1.2616251511503245,-1.3096682521849377,-1.5707946526629122,-0.4120008155940934,0.0],"actuator_force":[0.0011516515319272003,-21.675815561311083,-20.269228413646488,-2.4152036439621725,0.0006313915794180502,-8.122553879275074e-06,-0.2933430448924512],"issued_joint_targets_rad":[-1.9827970985720402,-1.53772822120707,1.2717688129592732,-1.3048406607746392,-1.57079594806988,-0.41200077562529025],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.439999999998545,"joint_targets_rad":[-1.9827970985720402,-1.53772822120707,1.2717688129592732,-1.3048406607746392,-1.57079594806988,-0.41200077562529025],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.459999999998534,"qpos":[-1.982800263278061,-1.5378919029689666,1.2724358963821216,-1.3053972176120294,-1.570794523334215,-0.41200226516906,0.0029332805389676755,0.0001562927558669433,0.003193170977185719,-0.0034289617040263484,0.0029332839837216736,0.00015630521761508546,0.00319760893766669,-0.0034376458725495444,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,8.348762055131878e-18,9.679680037138004e-19,-1.8301753871181472e-07],"qvel":[1.3209498810060448e-05,0.0008082422630533178,-0.0033796114470161873,0.002798693374726568,-7.153934966172094e-06,7.523357173351976e-06,1.6650924946164304e-06,4.105022703780227e-08,1.5652201943030591e-06,-1.6909096877503677e-06,1.6498998971210747e-06,-1.621986737318247e-08,1.2609237861837504e-06,-1.7566242751140387e-06,1.3366574201035761e-17,3.564130758597635e-17,1.1747014513764755e-14,1.3675811921419453e-15,-1.687700132827325e-15,-8.267549450175056e-08],"joint_position_rad":[-1.982800263278061,-1.5378919029689666,1.2724358963821216,-1.3053972176120294,-1.570794523334215,-0.41200226516906],"joint_velocity_rad_s":[1.3209498810060448e-05,0.0008082422630533178,-0.0033796114470161873,0.002798693374726568,-7.153934966172094e-06,7.523357173351976e-06],"linkage_position_rad":[0.0029332805389676755,0.0001562927558669433,0.003193170977185719,-0.0034289617040263484,0.0029332839837216736,0.00015630521761508546,0.00319760893766669,-0.0034376458725495444],"tcp_position_m":[0.07433873383271046,0.5047331061233737,0.434816574067979],"tcp_quaternion_wxyz":[-1.1217075097752608e-05,0.7071073717805009,0.7071061900192434,2.6159491365430655e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,8.348762055131878e-18,9.679680037138004e-19,-1.8301753871181472e-07],"object_linear_velocity_m_s":[1.3366574201035761e-17,3.564130758597635e-17,1.1747014513764755e-14],"object_angular_velocity_rad_s":[1.367580574224351e-15,-1.6877006320294236e-15,-8.267549450175058e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351515345917,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827970979303495,-1.5485686326371628,1.2616245533789365,-1.3096675458946907,-1.5707946924075575,-0.41200077555273207,0.0],"actuator_force":[0.0010468958989804378,-21.67675624161393,-20.270841427563937,-2.4150334788032524,0.0006308568254098645,-7.527553350428207e-06,-0.29334480109642613],"issued_joint_targets_rad":[-1.9827970625641609,-1.5377278318951708,1.2717681531756728,-1.3048400364653554,-1.5707959836350645,-0.41200073932999737],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.459999999998534,"joint_targets_rad":[-1.9827970625641609,-1.5377278318951708,1.2717681531756728,-1.3048400364653554,-1.5707959836350645,-0.41200073932999737],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.479999999998522,"qpos":[-1.9828000055417605,-1.5378765122207716,1.272371709499345,-1.3053440347808734,-1.570794662494575,-0.4120021190838908,0.002933312294651299,0.00015629360860234146,0.0031932006079541148,-0.0034289941243086566,0.002933315398366737,0.0001563048331808947,0.003197632134111816,-0.003437679581030646,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,1.0274581032869063e-17,-4.193292803967519e-18,-1.833310191041137e-07],"qvel":[1.2338542852435056e-05,0.0007343357385545513,-0.0030577190063515794,0.0025344264435756127,-6.633342490438806e-06,6.9688282846185685e-06,1.507055484739358e-06,3.710526495751718e-08,1.4165668625329586e-06,-1.5302230902618104e-06,1.4933038864846514e-06,-1.474481933190734e-08,1.1409958769133332e-06,-1.5897466895889414e-06,4.527851169574298e-18,1.3858935527822298e-17,1.1559664378359261e-14,-2.698575210676793e-16,1.6102534571858082e-16,-8.946929629583042e-09],"joint_position_rad":[-1.9828000055417605,-1.5378765122207716,1.272371709499345,-1.3053440347808734,-1.570794662494575,-0.4120021190838908],"joint_velocity_rad_s":[1.2338542852435056e-05,0.0007343357385545513,-0.0030577190063515794,0.0025344264435756127,-6.633342490438806e-06,6.9688282846185685e-06],"linkage_position_rad":[0.002933312294651299,0.00015629360860234146,0.0031932006079541148,-0.0034289941243086566,0.002933315398366737,0.0001563048331808947,0.003197632134111816,-0.003437679581030646],"tcp_position_m":[0.07433879523696363,0.504733474571218,0.4348343780576105],"tcp_quaternion_wxyz":[-1.0352207635645446e-05,0.7071073323510507,0.7071062295336846,2.4142656622602387e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,1.0274581032869063e-17,-4.193292803967519e-18,-1.833310191041137e-07],"object_linear_velocity_m_s":[4.527851169574298e-18,1.3858935527822298e-17,1.1559664378359261e-14],"object_angular_velocity_rad_s":[-2.6985746195074556e-16,1.6102544484893063e-16,-8.946929629583044e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351496714546,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827970620400774,-1.5485684472009256,1.2616240163199757,-1.3096669072326743,-1.5707947284355623,-0.412000739262998,0.0],"actuator_force":[0.0009515862252555962,-21.677604255729875,-20.27229875619787,-2.4148788702580077,0.0006303637553628505,-6.972382095682406e-06,-0.2933463864477579],"issued_joint_targets_rad":[-1.9827970299375757,-1.537727481883685,1.2717675593117457,-1.3048394722074872,-1.5707960158642678,-0.4120007064360146],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.479999999998522,"joint_targets_rad":[-1.9827970299375757,-1.537727481883685,1.2717675593117457,-1.3048394722074872,-1.5707960158642678,-0.4120007064360146],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.499999999998511,"qpos":[-1.9827997649944473,-1.5378625293082737,1.2723136363552872,-1.305295873886472,-1.5707947914576663,-0.4120019838325377,0.00293334103188447,0.00015629437919473046,0.0031932274228946237,-0.0034290234575232712,0.002933343827112026,0.0001563044842786848,0.0031976531238967518,-0.003437710082187725,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,6.421436193100491e-18,-1.5078761721899134e-17,-1.8372165258742152e-07],"qvel":[1.151522169498246e-05,0.0006671536419170537,-0.0027664758767977945,0.0022951053152321364,-6.147273921346105e-06,6.451840099039079e-06,1.3636867705688473e-06,3.3538505204051174e-08,1.281719022981836e-06,-1.3844831983451472e-06,1.3512405023687571e-06,-1.3401395874846704e-08,1.032170981878754e-06,-1.4384040734686766e-06,2.633973355200957e-17,4.8648959636142305e-18,1.1554113263236138e-14,-4.710694061230308e-16,-7.683964605859442e-16,-3.596384970191588e-08],"joint_position_rad":[-1.9827997649944473,-1.5378625293082737,1.2723136363552872,-1.305295873886472,-1.5707947914576663,-0.4120019838325377],"joint_velocity_rad_s":[1.151522169498246e-05,0.0006671536419170537,-0.0027664758767977945,0.0022951053152321364,-6.147273921346105e-06,6.451840099039079e-06],"linkage_position_rad":[0.00293334103188447,0.00015629437919473046,0.0031932274228946237,-0.0034290234575232712,0.002933343827112026,0.0001563044842786848,0.0031976531238967518,-0.003437710082187725],"tcp_position_m":[0.07433884933449418,0.5047338116834791,0.4348504529630325],"tcp_quaternion_wxyz":[-9.549727594273569e-06,0.7071072951619957,0.7071062667955126,2.2271091063554227e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,6.421436193100491e-18,-1.5078761721899134e-17,-1.8372165258742152e-07],"object_linear_velocity_m_s":[2.633973355200957e-17,4.8648959636142305e-18,1.1554113263236138e-14],"object_angular_velocity_rad_s":[-4.710696873805537e-16,-7.683962870327141e-16,-3.596384970191589e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313514798519754,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827970295095372,-1.5485682829532963,1.2616235334614125,-1.309666329628604,-1.5707947610936874,-0.4120007063741801,0.0],"actuator_force":[0.0008648811422062863,-21.67836874681234,-20.273615437030003,-2.4147384025892507,0.0006299093817005996,-6.454831094515612e-06,-0.2933478175861895],"issued_joint_targets_rad":[-1.9827970003754223,-1.5377271670026103,1.2717670244957169,-1.30483896214461,-1.5707960450697585,-0.41200067662525514],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.499999999998511,"joint_targets_rad":[-1.9827970003754223,-1.5377271670026103,1.2717670244957169,-1.30483896214461,-1.5707960450697585,-0.41200067662525514],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.5199999999985,"qpos":[-1.982799540669676,-1.537849826070004,1.2722610947745485,-1.3052522608545647,-1.570794910908363,-0.41200185867355893,0.0029333670316891614,0.0001562950755651815,0.0031932516838179487,-0.0034290499920421546,0.0029333695478737116,0.00015630416764486193,0.0031976721111969275,-0.003437737675610597,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,3.865802467830333e-18,-1.3464950065483717e-17,-1.8385801659444778e-07],"qvel":[1.0738187232221975e-05,0.0006060886598734172,-0.002502965995957052,0.0020783763154856097,-5.693849475266692e-06,5.970254250474966e-06,1.233687051631216e-06,3.031390214681531e-08,1.1594531145023499e-06,-1.252360671474881e-06,1.2224230275193643e-06,-1.2178284637872876e-08,9.334782694908061e-07,-1.3012097533866422e-06,1.521699290614716e-17,4.255439362036396e-18,1.1572154387386299e-14,-1.566139196685474e-16,6.3356069845377e-16,-3.891915427069161e-09],"joint_position_rad":[-1.982799540669676,-1.537849826070004,1.2722610947745485,-1.3052522608545647,-1.570794910908363,-0.41200185867355893],"joint_velocity_rad_s":[1.0738187232221975e-05,0.0006060886598734172,-0.002502965995957052,0.0020783763154856097,-5.693849475266692e-06,5.970254250474966e-06],"linkage_position_rad":[0.0029333670316891614,0.0001562950755651815,0.0031932516838179487,-0.0034290499920421546,0.0029333695478737116,0.00015630416764486193,0.0031976721111969275,-0.003437737675610597],"tcp_position_m":[0.07433889693150329,0.5047341200554041,0.4348649668052448],"tcp_quaternion_wxyz":[-8.805657515326829e-06,0.7071072601346804,0.7071063018850667,2.053558049781964e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,3.865802467830333e-18,-1.3464950065483717e-17,-1.8385801659444778e-07],"object_linear_velocity_m_s":[1.521699290614716e-17,4.255439362036396e-18,1.1572154387386299e-14],"object_angular_velocity_rad_s":[-1.5661368659330117e-16,6.335607560732675e-16,-3.891915427069163e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313514645954907,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827970000258215,-1.5485681373148328,1.2616230990484867,-1.3096658071675376,-1.5707947906964757,-0.41200067656821543,0.0],"actuator_force":[0.0007860128162064939,-21.679057953606844,-20.274805053741147,-2.4146107880351337,0.0006294908911286257,-5.972753285732324e-06,-0.2933491095285394],"issued_joint_targets_rad":[-1.9827969735904154,-1.5377268835592612,1.2717665426216178,-1.3048385010057262,-1.5707960715346836,-0.41200064960926486],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.5199999999985,"joint_targets_rad":[-1.9827969735904154,-1.5377268835592612,1.2717665426216178,-1.3048385010057262,-1.5707960715346836,-0.41200064960926486],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.53999999999849,"qpos":[-1.9827993316326151,-1.5378382859298143,1.2722135579813139,-1.3052127663442308,-1.570795021493093,-0.4120017429087958,0.0029333905500273944,0.0001562957048699328,0.003193273629274695,-0.0034290739903469537,0.0029333928138040918,0.00015630388031216656,0.0031976892823747218,-0.003437762633949294,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,2.6329153588771957e-17,-1.8906916055602347e-17,-1.8428690968170453e-07],"qvel":[1.0005936889335149e-05,0.0005505876688076382,-0.0022645502832369588,0.0018821076672102149,-5.271237070341572e-06,5.522001330459763e-06,1.115860253640483e-06,2.7398777738184063e-08,1.0486430436832227e-06,-1.1326321019959359e-06,1.1056668418635473e-06,-1.1065079882830979e-08,8.440206583463888e-07,-1.1768897683756126e-06,2.4409036093326748e-17,3.210675463321312e-17,1.1445866518335189e-14,1.35495507878117e-16,5.956518254140868e-16,-1.5644278793574194e-08],"joint_position_rad":[-1.9827993316326151,-1.5378382859298143,1.2722135579813139,-1.3052127663442308,-1.570795021493093,-0.4120017429087958],"joint_velocity_rad_s":[1.0005936889335149e-05,0.0005505876688076382,-0.0022645502832369588,0.0018821076672102149,-5.271237070341572e-06,5.522001330459763e-06],"linkage_position_rad":[0.0029333905500273944,0.0001562957048699328,0.003193273629274695,-0.0034290739903469537,0.0029333928138040918,0.00015630388031216656,0.0031976892823747218,-0.003437762633949294],"tcp_position_m":[0.07433893875025414,0.5047344020758802,0.43487807126830497],"tcp_quaternion_wxyz":[-8.116205444889108e-06,0.7071072271862086,0.7071063348867085,1.8927331608333007e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,2.6329153588771957e-17,-1.8906916055602347e-17,-1.8428690968170453e-07],"object_linear_velocity_m_s":[2.4409036093326748e-17,3.210675463321312e-17,1.1445866518335189e-14],"object_angular_velocity_rad_s":[1.3549572801134648e-16,5.95651776297751e-16,-1.5644278793574203e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313514507963647,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827969733048734,-1.5485680080461952,1.2616227079861948,-1.3096653345215195,-1.5707948175292215,-0.4120006495566726,0.0],"actuator_force":[0.0007142807280615671,-21.679679300284988,-20.275879876943236,-2.4144948553653194,0.0006291056427016883,-5.524071440277112e-06,-0.2933502758270518],"issued_joint_targets_rad":[-1.9827969493221114,-1.537726628277934,1.271766108255751,-1.304838084044244,-1.5707960955157698,-0.4120006251264824],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.53999999999849,"joint_targets_rad":[-1.9827969493221114,-1.537726628277934,1.271766108255751,-1.304838084044244,-1.5707960955157698,-0.4120006251264824],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.559999999998478,"qpos":[-1.9827991369823734,-1.537827802861419,1.2721705493353759,-1.305177001529927,-1.5707951238210032,-0.41200163588181526,0.002933411819825947,0.00015629627357409176,0.003193293476417762,-0.0034290956911448654,0.0029334138552881655,0.00015630361958345678,0.0031977048073262323,-0.0034377852051394853,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,1.5827188789611468e-17,-2.3799439882091018e-17,-1.845930187265669e-07],"qvel":[9.316852567501616e-06,0.0005001470038898314,-0.002048840420006373,0.0017043685997452668,-4.877659972092222e-06,5.1050868538984285e-06,1.009107689020269e-06,2.476352854981489e-08,9.482541647987242e-07,-1.0241750892974524e-06,9.998836748198311e-07,-1.0052203692394624e-08,7.629716929706826e-07,-1.0642753906275402e-06,5.85191501540011e-17,1.0405745742541817e-17,1.1391743145884714e-14,-1.778560930900267e-15,-2.7287837268570005e-15,-6.288509181593205e-08],"joint_position_rad":[-1.9827991369823734,-1.537827802861419,1.2721705493353759,-1.305177001529927,-1.5707951238210032,-0.41200163588181526],"joint_velocity_rad_s":[9.316852567501616e-06,0.0005001470038898314,-0.002048840420006373,0.0017043685997452668,-4.877659972092222e-06,5.1050868538984285e-06],"linkage_position_rad":[0.002933411819825947,0.00015629627357409176,0.003193293476417762,-0.0034290956911448654,0.0029334138552881655,0.00015630361958345678,0.0031977048073262323,-0.0034377852051394853],"tcp_position_m":[0.0743389754373243,0.5047346599427154,0.43488990328881616],"tcp_quaternion_wxyz":[-7.47776631850638e-06,0.7071071962308287,0.7071063658874633,1.743797707318406e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,1.5827188789611468e-17,-2.3799439882091018e-17,-1.845930187265669e-07],"object_linear_velocity_m_s":[5.85191501540011e-17,1.0405745742541817e-17,1.1391743145884714e-14],"object_angular_velocity_rad_s":[-1.7785619353357383e-15,-2.728783068246366e-15,-6.288509181593209e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313514383188437,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827969490888864,-1.548567893199288,1.2616223557557433,-1.309664906888867,-1.5707948418506754,-0.41200062507801233,0.0],"actuator_force":[0.0006490459472843213,-21.680239477293526,-20.276850991262563,-2.414389539444528,0.0006287511612299568,-5.10678390241992e-06,-0.2933513287125249],"issued_joint_targets_rad":[-1.9827969273344117,-1.5377263982480596,1.271765716555835,-1.3048377069837342,-1.5707961172457665,-0.4120006029397485],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.559999999998478,"joint_targets_rad":[-1.9827969273344117,-1.5377263982480596,1.271765716555835,-1.3048377069837342,-1.5707961172457665,-0.4120006029397485],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.579999999998467,"qpos":[-1.9827989558536494,-1.537818280443633,1.2721316375668068,-1.305144614280743,-1.5707952184652416,-0.41200153697626013,0.002933431052879095,0.00015629678751879125,0.0031933114227519015,-0.003429115311376291,0.00293343288182083,0.00015630338300750312,0.003197718840767954,-0.003437805614482528,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,6.040968706307429e-18,-2.734679747581242e-17,-1.8483145991607555e-07],"qvel":[8.669234009973257e-06,0.0004543081235508579,-0.001853675095009881,0.0015434104200606241,-4.511402559753693e-06,4.717595509201979e-06,9.124220546693415e-07,2.2381403430311888e-08,8.57338123365115e-07,-9.259611375273572e-07,9.040756883298173e-07,-9.130880063001196e-09,6.895716687495524e-07,-9.622968213745435e-07,2.989065479467941e-17,8.475420617441695e-18,1.1336231994653456e-14,-4.2632032639870736e-16,7.718609524126417e-16,-6.80526309056545e-09],"joint_position_rad":[-1.9827989558536494,-1.537818280443633,1.2721316375668068,-1.305144614280743,-1.5707952184652416,-0.41200153697626013],"joint_velocity_rad_s":[8.669234009973257e-06,0.0004543081235508579,-0.001853675095009881,0.0015434104200606241,-4.511402559753693e-06,4.717595509201979e-06],"linkage_position_rad":[0.002933431052879095,0.00015629678751879125,0.0031933114227519015,-0.003429115311376291,0.00293343288182083,0.00015630338300750312,0.003197718840767954,-0.003437805614482528],"tcp_position_m":[0.07433900757110753,0.5047348956769524,0.4349005864906613],"tcp_quaternion_wxyz":[-6.886921335324335e-06,0.7071071671811124,0.7071063949758636,1.6059575718344373e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,6.040968706307429e-18,-2.734679747581242e-17,-1.8483145991607555e-07],"object_linear_velocity_m_s":[2.989065479467941e-17,8.475420617441695e-18,1.1336231994653456e-14],"object_angular_velocity_rad_s":[-4.263200406981009e-16,7.718611100896269e-16,-6.805263090565456e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313514270391736,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827969271439148,-1.5485677910759879,1.2616220383427563,-1.3096645199401502,-1.570794863895491,-0.4120006028950964,0.0],"actuator_force":[0.0005897258656659687,-21.68074451413031,-20.277728410097097,-2.414293871709674,0.0006284251313672939,-4.71896905196445e-06,-0.29335227922371127],"issued_joint_targets_rad":[-1.9827969074133056,-1.5377261908795377,1.2717653632009518,-1.3048373659696597,-1.570796136935677,-0.41200058283404234],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.579999999998467,"joint_targets_rad":[-1.9827969074133056,-1.5377261908795377,1.2717653632009518,-1.3048373659696597,-1.570796136935677,-0.41200058283404234],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.599999999998456,"qpos":[-1.982798787417811,-1.537809630998672,1.2720964324623296,-1.3051152856995503,-1.5707953059643325,-0.4120014456141404,0.002933448441627685,0.00015629725198134796,0.003193327647776793,-0.00342913304806052,0.0029334500837628844,0.00015630316835701862,0.003197731523456808,-0.0034378240665816724,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,-7.192901454637424e-19,2.9904915289515646e-19,-1.8522433479149695e-07],"qvel":[8.061327133930164e-06,0.00041265363942666935,-0.0016770984863008675,0.0013976493623017244,-4.170814571481138e-06,4.3576939602021e-06,8.248813308273579e-07,2.0228141949205284e-08,7.750266809009707e-07,-8.370497276660597e-07,8.17329465393161e-07,-8.29303175465752e-09,6.231237033827733e-07,-8.699758096857849e-07,-1.8678723965044863e-18,-1.8633817498266853e-18,1.1290435294887668e-14,-4.767055524635271e-16,1.943568245576704e-15,-2.7355022237105744e-08],"joint_position_rad":[-1.982798787417811,-1.537809630998672,1.2720964324623296,-1.3051152856995503,-1.5707953059643325,-0.4120014456141404],"joint_velocity_rad_s":[8.061327133930164e-06,0.00041265363942666935,-0.0016770984863008675,0.0013976493623017244,-4.170814571481138e-06,4.3576939602021e-06],"linkage_position_rad":[0.002933448441627685,0.00015629725198134796,0.003193327647776793,-0.00342913304806052,0.0029334500837628844,0.00015630316835701862,0.003197731523456808,-0.0034378240665816724],"tcp_position_m":[0.07433903566862335,0.5047351111362436,0.43491023248005123],"tcp_quaternion_wxyz":[-6.340435692468635e-06,0.7071071399489521,0.7071064222409709,1.4784608612355973e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,-7.192901454637424e-19,2.9904915289515646e-19,-1.8522433479149695e-07],"object_linear_velocity_m_s":[-1.8678723965044863e-18,-1.8633817498266853e-18,1.1290435294887668e-14],"object_angular_velocity_rad_s":[-4.767048324875851e-16,1.9435684221321577e-15,-2.7355022237105773e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313514168446585,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796907257706,-1.548567700193211,1.2616217521754427,-1.3096641697700726,-1.570794883876461,-0.412000582792924,0.0],"actuator_force":[0.000535789356490568,-21.681199844848834,-20.278521179253403,-2.414206971491467,0.0006281253929500963,-4.358787833780298e-06,-0.29335313732350954],"issued_joint_targets_rad":[-1.9827968893648116,-1.537726003864151,1.2717650443306967,-1.3048370575263495,-1.5707961547767781,-0.4120005646144272],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.599999999998456,"joint_targets_rad":[-1.9827968893648116,-1.537726003864151,1.2717650443306967,-1.3048370575263495,-1.5707961547767781,-0.4120005646144272],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.619999999998445,"qpos":[-1.9827986308834809,-1.5378017748064678,1.2720645809608104,-1.3050887269882125,-1.570795386823607,-0.4120013612540901,0.0029334641608153027,0.00015629767172989776,0.0031933423145187154,-0.00342914908001666,0.002933465633976296,0.00015630297360848594,0.0031977429833393465,-0.0034378407471380395,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,-2.344591302350027e-18,5.525169079636396e-18,-1.8538155589438864e-07],"qvel":[7.4913480049391095e-06,0.0003748036835636995,-0.0015173407716999904,0.001265651049372151,-3.8543139907627276e-06,4.023632415335889e-06,7.456428138554646e-07,1.8281828740284074e-08,7.005265749050539e-07,-7.565812729260703e-07,7.388101119399622e-07,-7.531242565215695e-09,5.62989819115928e-07,-7.864191371965845e-07,3.420717930513523e-17,3.797323254306836e-18,1.117802521364437e-14,-2.535017300828302e-17,-3.002535301162185e-15,-1.0995860580762046e-07],"joint_position_rad":[-1.9827986308834809,-1.5378017748064678,1.2720645809608104,-1.3050887269882125,-1.570795386823607,-0.4120013612540901],"joint_velocity_rad_s":[7.4913480049391095e-06,0.0003748036835636995,-0.0015173407716999904,0.001265651049372151,-3.8543139907627276e-06,4.023632415335889e-06],"linkage_position_rad":[0.0029334641608153027,0.00015629767172989776,0.0031933423145187154,-0.00342914908001666,0.002933465633976296,0.00015630297360848594,0.0031977429833393465,-0.0034378407471380395],"tcp_position_m":[0.07433906019168657,0.5047353080273356,0.4349189420145072],"tcp_quaternion_wxyz":[-5.835255008391626e-06,0.7071071144463943,0.7071064477715647,1.3605971893484589e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,-2.344591302350027e-18,5.525169079636396e-18,-1.8538155589438864e-07],"object_linear_velocity_m_s":[3.420717930513523e-17,3.797323254306836e-18,1.117802521364437e-14],"object_angular_velocity_rad_s":[-2.535128745269269e-17,-3.0025352922786884e-15,-1.0995860580762058e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313514076327785,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827968892377141,-1.5485676192532767,1.261621494071199,-1.3096638528545435,-1.570794901986542,-0.4120005645765776,0.0],"actuator_force":[0.00048675233165340615,-21.68161036704305,-20.279237470543194,-2.4141280381026036,0.000627849931674973,-4.0244852641535545e-06,-0.2933539120042089],"issued_joint_targets_rad":[-1.9827968730131125,-1.537725835142142,1.2717647564921792,-1.3048367785186052,-1.5707961709424536,-0.41200054810418474],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.619999999998445,"joint_targets_rad":[-1.9827968730131125,-1.537725835142142,1.2717647564921792,-1.3048367785186052,-1.5707961709424536,-0.41200054810418474],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.639999999998434,"qpos":[-1.9827984854967164,-1.537794639388507,1.2720357636192592,-1.3050646766082037,-1.570795461516675,-0.4120012833896116,0.0029334783690245204,0.00015629805107265178,0.003193355570950904,-0.0034291635694627125,0.002933479689341542,0.00015630279692385992,0.003197753336628925,-0.0034378558246054495,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,-9.50771939002945e-19,-6.951696635475193e-18,-1.8579848556735833e-07],"qvel":[6.9575029461767124e-06,0.00034041258637574544,-0.0013728004786920567,0.001146116415643047,-3.560388818210561e-06,3.7137451856847656e-06,6.73937255794172e-07,1.6522627056683172e-08,6.33113613970234e-07,-6.837715146466493e-07,6.677554676990708e-07,-6.83877424341633e-09,5.085865845273318e-07,-7.108120317427818e-07,7.656054585739326e-18,-1.2014685682536777e-18,1.1114187389728423e-14,2.23525756358178e-16,-1.693767479676172e-16,-1.1899437847415378e-08],"joint_position_rad":[-1.9827984854967164,-1.537794639388507,1.2720357636192592,-1.3050646766082037,-1.570795461516675,-0.4120012833896116],"joint_velocity_rad_s":[6.9575029461767124e-06,0.00034041258637574544,-0.0013728004786920567,0.001146116415643047,-3.560388818210561e-06,3.7137451856847656e-06],"linkage_position_rad":[0.0029334783690245204,0.00015629805107265178,0.003193355570950904,-0.0034291635694627125,0.002933479689341542,0.00015630279692385992,0.003197753336628925,-0.0034378558246054495],"tcp_position_m":[0.07433908155249636,0.5047354879176944,0.4349268060580533],"tcp_quaternion_wxyz":[-5.368500711814802e-06,0.7071070905863318,0.7071064716554621,1.2516967007301468e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,-9.50771939002945e-19,-6.951696635475193e-18,-1.8579848556735833e-07],"object_linear_velocity_m_s":[7.656054585739326e-18,-1.2014685682536777e-18,1.1114187389728423e-14],"object_angular_velocity_rad_s":[2.2352569358371886e-16,-1.6937683105172707e-16,-1.189943784741539e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513993103442,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827968729092942,-1.5485675471187081,1.2616212611903663,-1.3096635660123337,-1.5707949184006913,-0.4120005480693569,0.0],"actuator_force":[0.00044217366576049244,-21.681980494952313,-20.27988466630859,-2.4140563436293405,0.0006275968736417781,-3.7143911981729616e-06,-0.29335461138192054],"issued_joint_targets_rad":[-1.9827968581988638,-1.5377256828731942,1.2717644965937618,-1.3048365261173969,-1.5707961855898642,-0.4120005331431158],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.639999999998434,"joint_targets_rad":[-1.9827968581988638,-1.5377256828731942,1.2717644965937618,-1.3048365261173969,-1.5707961855898642,-0.4120005331431158],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.659999999998423,"qpos":[-1.9827983505408486,-1.5377881588552123,1.2720096914143344,-1.3050428977088353,-1.5707955304869103,-0.41200121154732455,0.0029334912100971444,0.00015629839390212479,0.003193367551312004,-0.0034291766634878605,0.0029334923921607355,0.00015630263663358638,0.0031977626888077,-0.0034378694517258252,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,-6.2950782241564375e-18,3.1878807496783535e-18,-1.861273462711167e-07],"qvel":[6.45800528972594e-06,0.000309165840468159,-0.0012420285017912408,0.0010378689538833726,-3.287597930130423e-06,3.4264504202500575e-06,6.090632910970053e-07,1.4932578886213283e-08,5.721274280164326e-07,-6.179064342649484e-07,6.034706002987921e-07,-6.209423779437751e-09,4.5938125602403777e-07,-6.424128422013158e-07,-1.6122631146198642e-17,-1.2648308684823567e-17,1.1080880698989667e-14,-9.75102895109382e-16,1.3483105289490652e-15,-4.7832006285902415e-08],"joint_position_rad":[-1.9827983505408486,-1.5377881588552123,1.2720096914143344,-1.3050428977088353,-1.5707955304869103,-0.41200121154732455],"joint_velocity_rad_s":[6.45800528972594e-06,0.000309165840468159,-0.0012420285017912408,0.0010378689538833726,-3.287597930130423e-06,3.4264504202500575e-06],"linkage_position_rad":[0.0029334912100971444,0.00015629839390212479,0.003193367551312004,-0.0034291766634878605,0.0029334923921607355,0.00015630263663358638,0.0031977626888077,-0.0034378694517258252],"tcp_position_m":[0.07433910011869328,0.5047356522463227,0.43493390673370963],"tcp_quaternion_wxyz":[-4.937464626668265e-06,0.7071070682830746,0.7071064939789665,1.1511288921685857e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,-6.2950782241564375e-18,3.1878807496783535e-18,-1.861273462711167e-07],"object_linear_velocity_m_s":[-1.6122631146198642e-17,-1.2648308684823567e-17,1.1080880698989667e-14],"object_angular_velocity_rad_s":[-9.751023934993597e-16,1.3483108913333895e-15,-4.783200628590248e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351391792723,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827968581140594,-1.5485674827907647,1.2616210509960928,-1.3096633063707845,-1.5707949332775437,-0.4120005331110797,0.0],"actuator_force":[0.00040165146219806047,-21.682314207292166,-20.280469435766463,-2.4139912263630094,0.0006273644762586628,-3.426919590765465e-06,-0.293355242782351],"issued_joint_targets_rad":[-1.9827968447776547,-1.5377255454111687,1.2717642618645877,-1.3048362977691867,-1.5707961988614563,-0.4120005195860078],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.659999999998423,"joint_targets_rad":[-1.9827968447776547,-1.5377255454111687,1.2717642618645877,-1.3048362977691867,-1.5707961988614563,-0.4120005195860078],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.679999999998412,"qpos":[-1.9827982253360343,-1.5377822733113784,1.271986102847629,-1.305023175797917,-1.5707955941489413,-0.4120011452852352,0.0029335028144441976,0.00015629870373559822,0.003193378377320578,-0.0034291884954045504,0.002933503871452144,0.0001563024912217386,0.0031977711355598818,-0.003437881766939393,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,-8.08582011396837e-18,7.589109267496175e-18,-1.8630871072723902e-07],"qvel":[5.991089200746734e-06,0.00028077732717782705,-0.0011237136312154427,0.0009398431621942523,-3.0345711347068823e-06,3.160249105796187e-06,5.503820986210053e-07,1.3495446862685877e-08,5.169667754818321e-07,-5.58335207373603e-07,5.45322524009741e-07,-5.637506314169064e-09,4.148885356157705e-07,-5.805452475121758e-07,-7.556438169581157e-18,-9.121952600792225e-18,1.1125289619974674e-14,3.408268436420771e-16,8.367628804367696e-17,-5.176256844435163e-09],"joint_position_rad":[-1.9827982253360343,-1.5377822733113784,1.271986102847629,-1.305023175797917,-1.5707955941489413,-0.4120011452852352],"joint_velocity_rad_s":[5.991089200746734e-06,0.00028077732717782705,-0.0011237136312154427,0.0009398431621942523,-3.0345711347068823e-06,3.160249105796187e-06],"linkage_position_rad":[0.0029335028144441976,0.00015629870373559822,0.003193378377320578,-0.0034291884954045504,0.002933503871452144,0.0001563024912217386,0.0031977711355598818,-0.003437881766939393],"tcp_position_m":[0.07433911621792649,0.5047358023338125,0.43494031818328394],"tcp_quaternion_wxyz":[-4.5396029573236625e-06,0.7071070474528102,0.7071065148264161,1.058301280817168e-05],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,-8.08582011396837e-18,7.589109267496175e-18,-1.8630871072723902e-07],"object_linear_velocity_m_s":[-7.556438169581157e-18,-9.121952600792225e-18,1.1125289619974674e-14],"object_angular_velocity_rad_s":[3.4082687474273025e-16,8.367616096194308e-17,-5.176256844435169e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513850031023,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827968447083806,-1.5485674253911044,1.2616208612194078,-1.3096630713351176,-1.570794946760924,-0.4120005195565497,0.0],"actuator_force":[0.0003648196275207738,-21.682615090322543,-20.280997803956325,-2.4139320848197485,0.0006271511221029868,-3.1605678429968975e-06,-0.2933558128179303],"issued_joint_targets_rad":[-1.982796832618614,-1.537725421282053,1.2717640498190697,-1.304836091168455,-1.5707962108863363,-0.41200050730123317],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.679999999998412,"joint_targets_rad":[-1.982796832618614,-1.537725421282053,1.2717640498190697,-1.304836091168455,-1.5707962108863363,-0.41200050730123317],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.6999999999984,"qpos":[-1.9827981092385798,-1.5377769283146203,1.2719647613259866,-1.3050053166320306,-1.5707956528901266,-0.4120010841910365,0.002933513300250715,0.00015629898375125055,0.0031933881592954056,-0.003429199185988501,0.0029335142441409426,0.00015630235931155212,0.003197778763632792,-0.003437892895672705,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,-1.422991597612843e-17,1.4971186124733562e-17,-1.867521607720471e-07],"qvel":[5.555020930049756e-06,0.0002549867842833659,-0.0010166694512096835,0.0008510740784789065,-2.8000086105868274e-06,2.9137235601425947e-06,4.973123204825005e-07,1.2196562260305766e-08,4.67084421820642e-07,-5.0446543434692e-07,4.927351687106643e-07,-5.1178988148594724e-09,3.7466580715523884e-07,-5.245955149271092e-07,-1.9446282894650977e-17,-1.5822259697037504e-17,1.1019818432635286e-14,9.693553281989908e-17,-2.9333711876725705e-16,-2.080692828478849e-08],"joint_position_rad":[-1.9827981092385798,-1.5377769283146203,1.2719647613259866,-1.3050053166320306,-1.5707956528901266,-0.4120010841910365],"joint_velocity_rad_s":[5.555020930049756e-06,0.0002549867842833659,-0.0010166694512096835,0.0008510740784789065,-2.8000086105868274e-06,2.9137235601425947e-06],"linkage_position_rad":[0.002933513300250715,0.00015629898375125055,0.0031933881592954056,-0.003429199185988501,0.0029335142441409426,0.00015630235931155212,0.003197778763632792,-0.003437892895672705],"tcp_position_m":[0.07433913014197949,0.5047359393916725,0.43494610734349937],"tcp_quaternion_wxyz":[-4.1725298399577645e-06,0.7071070280139709,0.7071065342798304,9.72657960344528e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,-1.422991597612843e-17,1.4971186124733562e-17,-1.867521607720471e-07],"object_linear_velocity_m_s":[-1.9446282894650977e-17,-1.5822259697037504e-17,1.1019818432635286e-14],"object_angular_velocity_rad_s":[9.693542263420204e-17,-2.93337155565239e-16,-2.0806928284788523e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513788718111,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796832562025,-1.548567374146088,1.2616206898287372,-1.3096628585609214,-1.5707949589812258,-0.4120005072741544,0.0],"actuator_force":[0.00033134473733298364,-21.68288637664864,-20.28147521401479,-2.4138783722933113,0.0006269553114179871,-2.913914954660868e-06,-0.29335632745702883],"issued_joint_targets_rad":[-1.982796821603145,-1.5377253091646754,1.271763858225699,-1.3048359042330846,-1.5707962217815161,-0.41200049616948653],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.6999999999984,"joint_targets_rad":[-1.982796821603145,-1.5377253091646754,1.271763858225699,-1.3048359042330846,-1.5707962217815161,-0.41200049616948653],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.71999999999839,"qpos":[-1.9827980016400804,-1.5377720743822014,1.2719454527908045,-1.3049891443057346,-1.5707957070720089,-0.4120010278804494,0.002933522774581764,0.00015629923682054886,0.003193396997183472,-0.0034292088446235243,0.002933523616152607,0.00015630223965309168,0.0031977856516325074,-0.0034379029515255806,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,-1.1437066204992734e-17,1.743809631049539e-17,-1.8696805158310858e-07],"qvel":[5.148107879877593e-06,0.00023155749485265147,-0.0009198224791392082,0.0007706878002229201,-2.5826798139426564e-06,2.6855354311809307e-06,4.493253498847144e-07,1.1022629686769833e-08,4.2198278521313473e-07,-4.557600995368261e-07,4.4518472584964685e-07,-4.645847065296918e-09,3.3831079011733526e-07,-4.7400497428382076e-07,-6.204148546895287e-17,-3.16791146610159e-17,1.0997613972142782e-14,-1.4584186813061396e-16,3.518095633490985e-15,-8.363732281056183e-08],"joint_position_rad":[-1.9827980016400804,-1.5377720743822014,1.2719454527908045,-1.3049891443057346,-1.5707957070720089,-0.4120010278804494],"joint_velocity_rad_s":[5.148107879877593e-06,0.00023155749485265147,-0.0009198224791392082,0.0007706878002229201,-2.5826798139426564e-06,2.6855354311809307e-06],"linkage_position_rad":[0.002933522774581764,0.00015629923682054886,0.003193396997183472,-0.0034292088446235243,0.002933523616152607,0.00015630223965309168,0.0031977856516325074,-0.0034379029515255806],"tcp_position_m":[0.07433914215049338,0.5047360645309729,0.4349513346465913],"tcp_quaternion_wxyz":[-3.834010598345688e-06,0.7071070098875222,0.7071065524186303,8.936780783164887e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,-1.1437066204992734e-17,1.743809631049539e-17,-1.8696805158310858e-07],"object_linear_velocity_m_s":[-6.204148546895287e-17,-3.16791146610159e-17,1.0997613972142782e-14],"object_angular_velocity_rad_s":[-1.4584055550458397e-16,3.5180956861131542e-15,-8.363732281056196e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513733356889,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827968215569176,-1.5485673283733141,1.2616205350032634,-1.30966266592948,-1.5707949700566635,-0.41200049614460266,0.0],"actuator_force":[0.0003009231736541551,-21.68313098016597,-20.281906583426007,-2.4138295918949098,0.0006267756540410119,-2.6856197621327738e-06,-0.2933567920870972],"issued_joint_targets_rad":[-1.9827968116237786,-1.537725207873792,1.271763685079561,-1.3048357350822821,-1.5707962316530417,-0.41200048608263073],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.71999999999839,"joint_targets_rad":[-1.9827968116237786,-1.537725207873792,1.271763685079561,-1.3048357350822821,-1.5707962316530417,-0.41200048608263073],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.739999999998378,"qpos":[-1.9827979019664093,-1.537767666542012,1.2719279835727169,-1.3049744995209676,-1.5707957570317368,-0.4120009759956121,0.002933531334396383,0.0001562994655385999,0.003193404981502664,-0.0034292175703469047,0.0029335320834153224,0.00015630213111159194,0.003197791870757019,-0.0034379120373557704,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,-8.552488628754922e-18,2.5195966733948755e-17,-1.8728517893654623e-07],"qvel":[4.768705726959018e-06,0.00021027417871541311,-0.0008322014287133501,0.0006978928971195101,-2.3814219658691063e-06,2.4744233894882637e-06,4.0594087709298574e-07,9.96165413489885e-09,3.812098895111386e-07,-4.117296502329188e-07,4.0219523046292695e-07,-4.217087635147228e-09,3.054573502281563e-07,-4.282667614484497e-07,-2.780924072964945e-17,-1.2658850322209757e-17,1.0850509421379953e-14,4.243018868719148e-16,-3.829380194415358e-16,-9.05101621831779e-09],"joint_position_rad":[-1.9827979019664093,-1.537767666542012,1.2719279835727169,-1.3049744995209676,-1.5707957570317368,-0.4120009759956121],"joint_velocity_rad_s":[4.768705726959018e-06,0.00021027417871541311,-0.0008322014287133501,0.0006978928971195101,-2.3814219658691063e-06,2.4744233894882637e-06],"linkage_position_rad":[0.002933531334396383,0.0001562994655385999,0.003193404981502664,-0.0034292175703469047,0.0029335320834153224,0.00015630213111159194,0.003197791870757019,-0.0034379120373557704],"tcp_position_m":[0.07433915247432,0.504736178770357,0.4349560546527471],"tcp_quaternion_wxyz":[-3.521954827425897e-06,0.7071069929971792,0.7071065693194332,8.208742653658701e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,-8.552488628754922e-18,2.5195966733948755e-17,-1.8728517893654623e-07],"object_linear_velocity_m_s":[-2.780924072964945e-17,-1.2658850322209757e-17,1.0850509421379953e-14],"object_angular_velocity_rad_s":[4.2430174297855655e-16,-3.829381785272366e-16,-9.051016218317807e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513683375123,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827968115860146,-1.5485672874700407,1.2616203951095624,-1.3096624915256254,-1.5707949800944037,-0.41200048605977074,0.0],"actuator_force":[0.0002732784982981684,-21.683351527543437,-20.282296354823302,-2.4137852920408704,0.000626610863150745,-2.4744182951508265e-06,-0.29335721157112304],"issued_joint_targets_rad":[-1.9827968025831304,-1.5377251163452232,1.2717635285780815,-1.304835582016754,-1.5707962405970177,-0.41200047694265873],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.739999999998378,"joint_targets_rad":[-1.9827968025831304,-1.5377251163452232,1.2717635285780815,-1.304835582016754,-1.5707962405970177,-0.41200047694265873],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.759999999998367,"qpos":[-1.982797809676599,-1.5377636639238077,1.271912178450298,-1.3049612380196756,-1.5707958030834481,-0.41200092820352335,0.002933539067474636,0.00015629967224997895,0.0031934121942049504,-0.0034292254528010472,0.0029335397327767236,0.00015630203265697414,0.0031977974854674293,-0.003437920246272553,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,-2.0112734904140836e-17,4.517387865577794e-18,-1.87680356962888e-07],"qvel":[4.415223953863156e-06,0.00019094106948077996,-0.0007529274913830557,0.0006319726326327876,-2.1951382255700405e-06,2.2792005100972496e-06,3.667227743807519e-07,9.002787400321715e-09,3.443551995257131e-07,-3.719312680823151e-07,3.633344954430558e-07,-3.827661923615414e-09,2.7577328836630586e-07,-3.869203338172166e-07,-2.5809221360213976e-18,-3.321749419763656e-17,1.082691718210667e-14,-9.691151364177366e-16,-1.9034465856645013e-15,-3.638224512785721e-08],"joint_position_rad":[-1.982797809676599,-1.5377636639238077,1.271912178450298,-1.3049612380196756,-1.5707958030834481,-0.41200092820352335],"joint_velocity_rad_s":[4.415223953863156e-06,0.00019094106948077996,-0.0007529274913830557,0.0006319726326327876,-2.1951382255700405e-06,2.2792005100972496e-06],"linkage_position_rad":[0.002933539067474636,0.00015629967224997895,0.0031934121942049504,-0.0034292254528010472,0.0029335397327767236,0.00015630203265697414,0.0031977974854674293,-0.003437920246272553],"tcp_position_m":[0.07433916131854656,0.5047362830434505,0.43496031662100787],"tcp_quaternion_wxyz":[-3.234409395668976e-06,0.7071069772695654,0.7071065850558996,7.53791038505429e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,-2.0112734904140836e-17,4.517387865577794e-18,-1.87680356962888e-07],"object_linear_velocity_m_s":[-2.5809221360213976e-18,-3.321749419763656e-17,1.082691718210667e-14],"object_angular_velocity_rad_s":[-9.691158512254451e-16,-1.903446223360114e-15,-3.6382245127857284e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513638254589,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98279680255228,-1.5485672509032045,1.2616202686810822,-1.3096623336178335,-1.5707949891915953,-0.4120004769216641,0.0],"actuator_force":[0.00024815905635477975,-21.68355038658592,-20.28264854187819,-2.413745062342173,0.0006264597490144297,-2.2791213609707484e-06,-0.2933575902989171],"issued_joint_targets_rad":[-1.9827967943929588,-1.5377250336227608,1.2717633870995764,-1.3048354435008984,-1.5707962487005385,-0.412000468660743],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.759999999998367,"joint_targets_rad":[-1.9827967943929588,-1.5377250336227608,1.2717633870995764,-1.3048354435008984,-1.5707962487005385,-0.412000468660743],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.779999999998356,"qpos":[-1.9827977242616328,-1.5377600293871638,1.2718978788934194,-1.3049492291642868,-1.5707958455196096,-0.41200088419454467,0.002933546053265215,0.00015629985907367726,0.003193418709467833,-0.0034292325731017643,0.0029335466428420495,0.00015630194335412506,0.003197802554104887,-0.003437927662531886,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999833,-1.731704549918766e-17,-4.391457184965863e-18,-1.8781830739843278e-07],"qvel":[4.086129922084316e-06,0.00017338016129741214,-0.0006812055398570094,0.0005722779184416462,-2.0227955895362836e-06,2.0987515057734955e-06,3.312752374779931e-07,8.136199183508897e-09,3.110463411101555e-07,-3.3596171324497947e-07,3.2821028427333676e-07,-3.474000439972107e-09,2.4895676653735584e-07,-3.4954807748838275e-07,1.4468478741305674e-18,-1.9980910170263855e-17,1.0831080518449015e-14,6.652518522630321e-16,-2.1826318027057691e-16,-3.937193105247028e-09],"joint_position_rad":[-1.9827977242616328,-1.5377600293871638,1.2718978788934194,-1.3049492291642868,-1.5707958455196096,-0.41200088419454467],"joint_velocity_rad_s":[4.086129922084316e-06,0.00017338016129741214,-0.0006812055398570094,0.0005722779184416462,-2.0227955895362836e-06,2.0987515057734955e-06],"linkage_position_rad":[0.002933546053265215,0.00015629985907367726,0.003193418709467833,-0.0034292325731017643,0.0029335466428420495,0.00015630194335412506,0.003197802554104887,-0.003437927662531886],"tcp_position_m":[0.07433916886521541,0.5047363782057139,0.4349641650246332],"tcp_quaternion_wxyz":[-2.969551451337153e-06,0.7071069626343187,0.7071065996986328,6.92003199324755e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999833,-1.731704549918766e-17,-4.391457184965863e-18,-1.8781830739843278e-07],"object_linear_velocity_m_s":[1.4468478741305674e-18,-1.9980910170263855e-17,1.0831080518449015e-14],"object_angular_velocity_rad_s":[6.652517703099243e-16,-2.1826343029987681e-16,-3.937193105247036e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513597526095,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967943677556,-1.5485672182007986,1.2616201544000716,-1.3096621906403296,-1.5707949974363054,-0.4120004686414669,0.0],"actuator_force":[0.0002253357852168847,-21.683729691788812,-20.28296677075241,-2.4137085298655165,0.0006263212111434768,-2.0986117021948303e-06,-0.29335793223297196],"issued_joint_targets_rad":[-1.9827967869733067,-1.5377249588466262,1.2717632591842687,-1.3048353181468022,-1.5707962560425293,-0.41200046115638006],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.779999999998356,"joint_targets_rad":[-1.9827967869733067,-1.5377249588466262,1.2717632591842687,-1.3048353181468022,-1.5707962560425293,-0.41200046115638006],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.799999999998345,"qpos":[-1.98279764524318,-1.537756729182893,1.2718849414737334,-1.3049383546520918,-1.5707958846123085,-0.41200084368096146,0.0029335523636583043,0.0001563000279242191,0.0031934245944122194,-0.0034292390046329743,0.0029335528847385627,0.00015630186235432314,0.003197807129454001,-0.0034379343623707403,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,-1.576813062861142e-18,-8.379683894900561e-18,-1.8825219013244322e-07],"qvel":[3.779951781248653e-06,0.00015742961076516623,-0.0006163161665477338,0.000518220932798815,-1.863422616229162e-06,1.932029783486135e-06,2.9923924795016693e-07,7.3529882434024655e-09,2.8094531752519033e-07,-3.0345651370540586e-07,2.964668124265357e-07,-3.1528476498881896e-09,2.247340346807326e-07,-3.157715497987997e-07,9.666265204855048e-18,-5.757877220813359e-18,1.1123901841193902e-14,6.035324949613233e-16,1.4302542903406799e-16,-1.5826280852406354e-08],"joint_position_rad":[-1.98279764524318,-1.537756729182893,1.2718849414737334,-1.3049383546520918,-1.5707958846123085,-0.41200084368096146],"joint_velocity_rad_s":[3.779951781248653e-06,0.00015742961076516623,-0.0006163161665477338,0.000518220932798815,-1.863422616229162e-06,1.932029783486135e-06],"linkage_position_rad":[0.0029335523636583043,0.0001563000279242191,0.0031934245944122194,-0.0034292390046329743,0.0029335528847385627,0.00015630186235432314,0.003197807129454001,-0.0034379343623707403],"tcp_position_m":[0.07433917527577075,0.5047364650407731,0.43496764001633614],"tcp_quaternion_wxyz":[-2.7256814965758467e-06,0.7071069490241559,0.7071066133151225,6.351142429792279e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,-1.576813062861142e-18,-8.379683894900561e-18,-1.8825219013244322e-07],"object_linear_velocity_m_s":[9.666265204855048e-18,-5.757877220813359e-18,1.1123901841193902e-14],"object_angular_velocity_rad_s":[6.035325490762194e-16,1.4302520175151963e-16,-1.582628085240635e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513560765076,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967869527168,-1.5485671889444206,1.2616200510816546,-1.3096620611769962,-1.5707950049083639,-0.41200046113868655,0.0],"actuator_force":[0.0002046002136921743,-21.68389136736141,-20.283254317539104,-2.413675355732039,0.000626194233973365,-1.9318408988056035e-06,-0.29335824095014523],"issued_joint_targets_rad":[-1.982796780251726,-1.5377248912432449,1.271763143517417,-1.304835204699836,-1.5707962626945131,-0.4120004543566112],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.799999999998345,"joint_targets_rad":[-1.982796780251726,-1.5377248912432449,1.271763143517417,-1.304835204699836,-1.5707962626945131,-0.4120004543566112],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.819999999998334,"qpos":[-1.9827975721722906,-1.5377537326449566,1.2718732364264185,-1.304928507350919,-1.570795920614493,-0.4120008063956097,0.002933558063690468,0.00015630018053183206,0.0031934299097599083,-0.003429244813778373,0.0029335585228127386,0.00015630178888730614,0.003197811259258884,-0.0034379404147499367,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,5.294180196473563e-18,-2.790197506614001e-18,-1.8856186038182804e-07],"qvel":[3.4952803515271397e-06,0.00014294228078800755,-0.0005576084782621923,0.00046926934044449955,-1.7161070069938574e-06,1.7780544406761162e-06,2.7028933663797573e-07,6.645204696451621e-09,2.537460222888824e-07,-2.740845922987252e-07,2.677815330456578e-07,-2.861272984556028e-09,2.028567255065682e-07,-2.8524752944623826e-07,-3.369325164162339e-19,1.9923227618846102e-17,1.1576317723728654e-14,6.311200312348656e-16,8.268281254348004e-16,-6.361668298296068e-08],"joint_position_rad":[-1.9827975721722906,-1.5377537326449566,1.2718732364264185,-1.304928507350919,-1.570795920614493,-0.4120008063956097],"joint_velocity_rad_s":[3.4952803515271397e-06,0.00014294228078800755,-0.0005576084782621923,0.00046926934044449955,-1.7161070069938574e-06,1.7780544406761162e-06],"linkage_position_rad":[0.002933558063690468,0.00015630018053183206,0.0031934299097599083,-0.003429244813778373,0.0029335585228127386,0.00015630178888730614,0.003197811259258884,-0.0034379404147499367],"tcp_position_m":[0.07433918069325895,0.5047365442662637,0.43497077784825655],"tcp_quaternion_wxyz":[-2.5012165792562897e-06,0.7071069363748997,0.7071066259697235,5.827547903714179e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,5.294180196473563e-18,-2.790197506614001e-18,-1.8856186038182804e-07],"object_linear_velocity_m_s":[-3.369325164162339e-19,1.9923227618846102e-17,1.1576317723728654e-14],"object_angular_velocity_rad_s":[6.311203434063262e-16,8.268278880980036e-16,-6.361668298296068e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351352758749,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967802349042,-1.5485671627627866,1.2616199576597278,-1.3096619439468722,-1.570795011680135,-0.4120004543403745,0.0],"actuator_force":[0.00018576263209979516,-21.684037147975232,-20.283514142076456,-2.4136452320211674,0.00062607787970137,-1.7778264691514778e-06,-0.29335851967950877],"issued_joint_targets_rad":[-1.982796774162574,-1.5377248301162083,1.2717630389143435,-1.3048351020256959,-1.5707962687213002,-0.412000448195316],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.819999999998334,"joint_targets_rad":[-1.982796774162574,-1.5377248301162083,1.2717630389143435,-1.3048351020256959,-1.5707962687213002,-0.412000448195316],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.839999999998323,"qpos":[-1.98279750462807,-1.5377510119101627,1.2718626463488052,-1.3049195902446626,-1.5707959537611595,-0.41200077209056374,0.0029335632121862674,0.00015630031845999557,0.003193434710434336,-0.0034292500605648184,0.0029335636152649147,0.00015630172225400852,0.003197814986692001,-0.003437945882042515,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,5.397310913142361e-18,1.1445363332900648e-18,-1.8880307554308521e-07],"qvel":[3.2307701292675066e-06,0.0001297844138947761,-0.0005044935752953447,0.0004249410573514973,-1.5799930840378224e-06,1.6359072062440441e-06,2.441305334519222e-07,6.005545947906926e-09,2.291709452476486e-07,-2.4754616664727953e-07,2.4186213232942226e-07,-2.5965246619877536e-09,1.8310004348677582e-07,-2.5766493204673715e-07,-7.351668858971548e-19,8.237603876559862e-18,1.1665135565698666e-14,-3.327008096784035e-16,6.057723889166606e-17,-6.884434007274164e-09],"joint_position_rad":[-1.98279750462807,-1.5377510119101627,1.2718626463488052,-1.3049195902446626,-1.5707959537611595,-0.41200077209056374],"joint_velocity_rad_s":[3.2307701292675066e-06,0.0001297844138947761,-0.0005044935752953447,0.0004249410573514973,-1.5799930840378224e-06,1.6359072062440441e-06],"linkage_position_rad":[0.0029335632121862674,0.00015630031845999557,0.003193434710434336,-0.0034292500605648184,0.0029335636152649147,0.00015630172225400852,0.003197814986692001,-0.003437945882042515],"tcp_position_m":[0.07433918524430316,0.5047366165392222,0.4349736112510964],"tcp_quaternion_wxyz":[-2.2946836493440984e-06,0.707106924625476,0.7071066377236583,5.3458105481744e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,5.397310913142361e-18,1.1445363332900648e-18,-1.8880307554308521e-07],"object_linear_velocity_m_s":[-7.351668858971548e-19,8.237603876559862e-18,1.1665135565698666e-14],"object_angular_velocity_rad_s":[-3.327007868198008e-16,6.057736459584882e-17,-6.884434007274166e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513497645952,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796774148831,-1.548567139326114,1.2616198731744923,-1.3096618377911011,-1.5707950178172103,-0.41200044818042003,0.0],"actuator_force":[0.00016865042607605574,-21.684168597460484,-20.283748918507627,-2.413617878954369,0.0006259712830569697,-1.635648800402123e-06,-0.293358771335888],"issued_joint_targets_rad":[-1.982796768646376,-1.5377247748382403,1.271762944307097,-1.3048350090987302,-1.5707962741816217,-0.4120004426125752],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.839999999998323,"joint_targets_rad":[-1.982796768646376,-1.5377247748382403,1.271762944307097,-1.3048350090987302,-1.5707962741816217,-0.4120004426125752],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.859999999998312,"qpos":[-1.9827974422163464,-1.5377485416631709,1.2718530650228819,-1.3049115154783122,-1.57079598427049,-0.41200074053589014,0.002933567862342107,0.00015630044312159498,0.003193439046101918,-0.0034292547992716455,0.002933568214726879,0.00015630166182010492,0.003197818350783275,-0.0034379508206491853,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,1.3950426941756803e-17,2.2257322883632024e-17,-1.8920052103739755e-07],"qvel":[2.9851396106721964e-06,0.00011783442391000578,-0.000456438650313775,0.0003847995090920978,-1.4542792499367575e-06,1.5047293668105123e-06,2.2049561637215197e-07,5.4274585670471396e-09,2.0696855660393222e-07,-2.2356984937461431e-07,2.1844378570011374e-07,-2.3561874156004286e-09,1.652601363448487e-07,-2.3274193598563582e-07,-2.8042433970750714e-17,1.6333390118424543e-17,1.1756728965230238e-14,3.398784180443181e-16,1.139381045823553e-15,-2.7673264479666364e-08],"joint_position_rad":[-1.9827974422163464,-1.5377485416631709,1.2718530650228819,-1.3049115154783122,-1.57079598427049,-0.41200074053589014],"joint_velocity_rad_s":[2.9851396106721964e-06,0.00011783442391000578,-0.000456438650313775,0.0003847995090920978,-1.4542792499367575e-06,1.5047293668105123e-06],"linkage_position_rad":[0.002933567862342107,0.00015630044312159498,0.003193439046101918,-0.0034292547992716455,0.002933568214726879,0.00015630166182010492,0.003197818350783275,-0.0034379508206491853],"tcp_position_m":[0.07433918904087962,0.5047366824610594,0.434976169776375],"tcp_quaternion_wxyz":[-2.1047131080190913e-06,0.7071069137178855,0.7071066486350553,4.9027335138548684e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,1.3950426941756803e-17,2.2257322883632024e-17,-1.8920052103739755e-07],"object_linear_velocity_m_s":[-2.8042433970750714e-17,1.6333390118424543e-17,1.1756728965230238e-14],"object_angular_velocity_rad_s":[3.3987884795540356e-16,1.1393809179852321e-15,-2.767326447966637e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513470626432,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796768635148,-1.5485671183412137,1.2616197967613851,-1.3096617416611633,-1.5707950233790466,-0.41200044259891244,0.0],"actuator_force":[0.0001531065522613062,-21.684287125649462,-20.283961062868002,-2.41359304233481,0.0006258736466406845,-1.5044478232084657e-06,-0.2933589985504597],"issued_joint_targets_rad":[-1.9827967636492445,-1.5377247248440655,1.2717628587325676,-1.3048349249914262,-1.5707962791286934,-0.41200043755408583],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.859999999998312,"joint_targets_rad":[-1.9827967636492445,-1.5377247248440655,1.2717628587325676,-1.3048349249914262,-1.5707962791286934,-0.41200043755408583],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.8799999999983,"qpos":[-1.9827973845683469,-1.5377462989045438,1.2718443963499029,-1.3049042034930967,-1.5707960123449276,-0.41200071151846396,0.002933572062256877,0.00015630055579345166,0.003193442961669806,-0.003429259078971692,0.002933572368786789,0.00015630160700980128,0.0031978213868098034,-0.003437955281565671,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,1.0563668103849773e-17,2.4680932831711065e-17,-1.8935957121562063e-07],"qvel":[2.757171001045219e-06,0.0001069817955526063,-0.0004129616482472201,0.00034844933630727995,-1.3382153838062468e-06,1.3837187387321532e-06,1.9914260195445195e-07,4.905015381271324e-09,1.8691127780050145e-07,-2.019097708140104e-07,1.9728668319633493e-07,-2.1380195318658008e-09,1.4915234588957342e-07,-2.1022400524744774e-07,-1.1416074429472394e-16,6.341910074409792e-19,1.1794198992311341e-14,-1.9088088343200912e-15,7.0122420876877865e-15,-1.1123783976319089e-07],"joint_position_rad":[-1.9827973845683469,-1.5377462989045438,1.2718443963499029,-1.3049042034930967,-1.5707960123449276,-0.41200071151846396],"joint_velocity_rad_s":[2.757171001045219e-06,0.0001069817955526063,-0.0004129616482472201,0.00034844933630727995,-1.3382153838062468e-06,1.3837187387321532e-06],"linkage_position_rad":[0.002933572062256877,0.00015630055579345166,0.003193442961669806,-0.003429259078971692,0.002933572368786789,0.00015630160700980128,0.0031978213868098034,-0.003437955281565671],"tcp_position_m":[0.07433919218190703,0.5047367425821396,0.43497848010540263],"tcp_quaternion_wxyz":[-1.9300325763275533e-06,0.707106903597156,0.7071066587589938,4.495346536533408e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,1.0563668103849773e-17,2.4680932831711065e-17,-1.8935957121562063e-07],"object_linear_velocity_m_s":[-1.1416074429472394e-16,6.341910074409792e-19,1.1794198992311341e-14],"object_angular_velocity_rad_s":[-1.908806184140552e-15,7.0122428129398906e-15,-1.1123783976319092e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513446245043,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967636400707,-1.5485670995472154,1.2616197276412442,-1.3096616546082689,-1.570795028419533,-0.4120004375415572,0.0],"actuator_force":[0.00013898815177526558,-21.68439400356374,-20.28415275801808,-2.4135704912168876,0.0006257842358081689,-1.3834204821705498e-06,-0.2933592036986091],"issued_joint_targets_rad":[-1.9827967591223576,-1.5377246796240567,1.2717627813218801,-1.3048348488649288,-1.5707962836107379,-0.412000432970641],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.8799999999983,"joint_targets_rad":[-1.9827967591223576,-1.5377246796240567,1.2717627813218801,-1.3048348488649288,-1.5707962836107379,-0.412000432970641],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.89999999999829,"qpos":[-1.982797331339383,-1.5377442627397844,1.271836553386432,-1.304897582243245,-1.570796038172207,-0.4120006848408487,0.0029335758554141964,0.00015630065762943475,0.003193446497734596,-0.003429262944020515,0.0029335761204663073,0.00015630155730083262,0.003197824126650348,-0.0034379593108983197,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,1.1239170248594498e-18,3.998343062580698e-17,-1.8978135135564404e-07],"qvel":[2.5457094151762112e-06,9.712608253938336e-05,-0.00037362643396297157,0.0003155325051826606,-1.2311002784052478e-06,1.272126638201653e-06,1.7985243283587627e-07,4.432888687946637e-09,1.68793055623055e-07,-1.823430065684598e-07,1.7817373337972403e-07,-1.939974729311075e-09,1.3460976305350786e-07,-1.8988006627709632e-07,-4.621507320119077e-17,3.318922506810335e-18,1.1948242436978082e-14,-3.267853559663356e-16,-9.800765857088741e-16,-1.2037873259857554e-08],"joint_position_rad":[-1.982797331339383,-1.5377442627397844,1.271836553386432,-1.304897582243245,-1.570796038172207,-0.4120006848408487],"joint_velocity_rad_s":[2.5457094151762112e-06,9.712608253938336e-05,-0.00037362643396297157,0.0003155325051826606,-1.2311002784052478e-06,1.272126638201653e-06],"linkage_position_rad":[0.0029335758554141964,0.00015630065762943475,0.003193446497734596,-0.003429262944020515,0.0029335761204663073,0.00015630155730083262,0.003197824126650348,-0.0034379593108983197],"tcp_position_m":[0.07433919475467378,0.5047367974060029,0.4349805663282078],"tcp_quaternion_wxyz":[-1.7694609008211512e-06,0.7071068942112753,0.7071066681475795,4.120892047578764e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,1.1239170248594498e-18,3.998343062580698e-17,-1.8978135135564404e-07],"object_linear_velocity_m_s":[-4.621507320119077e-17,3.318922506810335e-18,1.1948242436978082e-14],"object_angular_velocity_rad_s":[-3.267857289294609e-16,-9.800764616462119e-16,-1.203787325985756e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513424245273,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967591148623,-1.5485670827118245,1.2616196651115585,-1.3096615757737842,-1.5707950329875162,-0.41200043295915495,0.0],"actuator_force":[0.0001261652755601972,-21.684490377096154,-20.284325976161654,-2.413550015787905,0.0006257023733269307,-1.2718169557501824e-06,-0.2933593889248563],"issued_joint_targets_rad":[-1.9827967550214807,-1.5377246387185723,1.2717627112909122,-1.3048347799604956,-1.570796287671449,-0.4120004288176453],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.89999999999829,"joint_targets_rad":[-1.9827967550214807,-1.5377246387185723,1.2717627112909122,-1.3048347799604956,-1.570796287671449,-0.4120004288176453],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.919999999998279,"qpos":[-1.9827972822075706,-1.5377424141874785,1.2718294574721831,-1.3048915864866686,-1.570796061926324,-0.4120006603202365,0.0029335792811200213,0.00015630074967215636,0.003193449690991462,-0.0034292664345108815,0.0029335795086535377,0.00015630151221927046,0.0031978265991083523,-0.003437962950317033,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,2.193461494317425e-18,3.3235474664228264e-17,-1.9011403795166257e-07],"qvel":[2.349661727092591e-06,8.817599552149043e-05,-0.00033803841961954314,0.0002857247847654889,-1.1322790851561069e-06,1.1692549798298905e-06,1.6242681062416918e-07,4.0061928193153976e-09,1.5242729538176363e-07,-1.6466889936636942e-07,1.609084207999499e-07,-1.760213545838721e-09,1.2148126882694778e-07,-1.7150077132587812e-07,-4.65919534215521e-17,5.398576250206632e-18,1.1999590251867e-14,3.7504440981818346e-16,-5.484869267747162e-16,-4.838847320501388e-08],"joint_position_rad":[-1.9827972822075706,-1.5377424141874785,1.2718294574721831,-1.3048915864866686,-1.570796061926324,-0.4120006603202365],"joint_velocity_rad_s":[2.349661727092591e-06,8.817599552149043e-05,-0.00033803841961954314,0.0002857247847654889,-1.1322790851561069e-06,1.1692549798298905e-06],"linkage_position_rad":[0.0029335792811200213,0.00015630074967215636,0.003193449690991462,-0.0034292664345108815,0.0029335795086535377,0.00015630151221927046,0.0031978265991083523,-0.003437962950317033],"tcp_position_m":[0.0743391968361172,0.5047368473932475,0.4349824501953438],"tcp_quaternion_wxyz":[-1.6219024099875846e-06,0.7071068855111137,0.7071066768500193,3.7768118416882313e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,2.193461494317425e-18,3.3235474664228264e-17,-1.9011403795166257e-07],"object_linear_velocity_m_s":[-4.65919534215521e-17,5.398576250206632e-18,1.1999590251867e-14],"object_angular_velocity_rad_s":[3.750441980516e-16,-5.48487069164814e-16,-4.8388473205013914e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513404395303,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967550153567,-1.5485670676280447,1.2616196085386653,-1.3096615043805984,-1.570795037127269,-0.4120004288071174,0.0],"actuator_force":[0.0001145197370533424,-21.68457727934083,-20.284482499188016,-2.4135314254415334,0.0006256274360794123,-1.1689384393775981e-06,-0.29335955616483506],"issued_joint_targets_rad":[-1.9827967513065388,-1.5377246017129071,1.2717626479318223,-1.3048347175917858,-1.5707962913504183,-0.4120004250546911],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.919999999998279,"joint_targets_rad":[-1.9827967513065388,-1.5377246017129071,1.2717626479318223,-1.3048347175917858,-1.5707962913504183,-0.4120004250546911],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.939999999998268,"qpos":[-1.9827972368725713,-1.537740736004827,1.271823037440916,-1.3048861571425912,-1.5707960837684576,-0.4120006377874495,0.002933582374899895,0.00015630083286406987,0.0031934525746050765,-0.003429269586674566,0.002933582568496039,0.00015630147133498877,0.003197828830203464,-0.003437966237490288,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,8.541246168428698e-19,2.2133620417561842e-17,-1.9029751236151607e-07],"qvel":[2.1679950486881995e-06,8.004857189480751e-05,-0.00030584060797976,0.0002587325565765194,-1.0411408137435406e-06,1.0744533680480948e-06,1.466863334968707e-07,3.6205890554088855e-09,1.3764534229910185e-07,-1.48704452759694e-07,1.4531295278854022e-07,-1.597061288997895e-09,1.0963003308774624e-07,-1.5489773345417893e-07,-2.886276847090649e-17,1.7204526353274662e-18,1.156937882982475e-14,-1.0106812054952342e-16,-1.2526252331345016e-15,-5.2364762649114006e-09],"joint_position_rad":[-1.9827972368725713,-1.537740736004827,1.271823037440916,-1.3048861571425912,-1.5707960837684576,-0.4120006377874495],"joint_velocity_rad_s":[2.1679950486881995e-06,8.004857189480751e-05,-0.00030584060797976,0.0002587325565765194,-1.0411408137435406e-06,1.0744533680480948e-06],"linkage_position_rad":[0.002933582374899895,0.00015630083286406987,0.0031934525746050765,-0.003429269586674566,0.002933582568496039,0.00015630147133498877,0.003197828830203464,-0.003437966237490288],"tcp_position_m":[0.0743391984939677,0.5047368929651039,0.43498415134520985],"tcp_quaternion_wxyz":[-1.4863414262182357e-06,0.7071068774503342,0.7071066849127163,3.4607343321940415e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,8.541246168428698e-19,2.2133620417561842e-17,-1.9029751236151607e-07],"object_linear_velocity_m_s":[-2.886276847090649e-17,1.7204526353274662e-18,1.156937882982475e-14],"object_angular_velocity_rad_s":[-1.0106859752425209e-16,-1.2526251946594427e-15,-5.236476264911404e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513386485733,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796751301535,-1.5485670541113037,1.2616195573507967,-1.3096614397253263,-1.570795040878919,-0.4120004250450434,0.0],"actuator_force":[0.00010394405262559303,-21.684655641711288,-20.284623937046945,-2.4135145470252155,0.0006255588506292042,-1.074133763268037e-06,-0.2933597071662281],"issued_joint_targets_rad":[-1.9827967479412238,-1.53772456823277,1.2717625906054435,-1.3048346611379014,-1.5707962946835203,-0.41200042164515843],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.939999999998268,"joint_targets_rad":[-1.9827967479412238,-1.53772456823277,1.2717625906054435,-1.3048346611379014,-1.5707962946835203,-0.41200042164515843],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.959999999998256,"qpos":[-1.9827971950543761,-1.5377392125290061,1.2718172289064862,-1.3048812407098047,-1.5707961038478366,-0.41200061708599794,0.002933585168859034,0.0001563009080566191,0.003193455178545455,-0.0034292724332538405,0.002933585331757169,0.0001563014342578659,0.003197830843438156,-0.0034379692064581634,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,-1.683317348473603e-17,1.0799340333621197e-17,-1.907461214054839e-07],"qvel":[1.999734990117973e-06,7.266842031699176e-05,-0.0002767100123066386,0.00023428992518598153,-9.571159021342488e-07,9.871163625736282e-07,1.3246868262357232e-07,3.272089662012287e-09,1.2429442154601542e-07,-1.3428574698257364e-07,1.3122646943703342e-07,-1.4490056964930073e-09,9.893232687106459e-08,-1.398997931608362e-07,-1.501879810042459e-17,-2.2272032603533942e-17,1.1380640915638473e-14,-3.049244546203024e-16,-9.787271854889914e-16,-2.1048991459199178e-08],"joint_position_rad":[-1.9827971950543761,-1.5377392125290061,1.2718172289064862,-1.3048812407098047,-1.5707961038478366,-0.41200061708599794],"joint_velocity_rad_s":[1.999734990117973e-06,7.266842031699176e-05,-0.0002767100123066386,0.00023428992518598153,-9.571159021342488e-07,9.871163625736282e-07],"linkage_position_rad":[0.002933585168859034,0.0001563009080566191,0.003193455178545455,-0.0034292724332538405,0.002933585331757169,0.0001563014342578659,0.003197830843438156,-0.0034379692064581634],"tcp_position_m":[0.07433919978777304,0.5047369345067236,0.4349856875092757],"tcp_quaternion_wxyz":[-1.3618370420694581e-06,0.7071068699852965,0.7071066923793681,3.170462404864739e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,-1.683317348473603e-17,1.0799340333621197e-17,-1.907461214054839e-07],"object_linear_velocity_m_s":[-1.501879810042459e-17,-2.2272032603533942e-17,1.1380640915638473e-14],"object_angular_velocity_rad_s":[-3.049248284517401e-16,-9.787270698712496e-16,-2.1048991459199198e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513370327459,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967479371353,-1.5485670419969197,1.2616195110318493,-1.3096613811712658,-1.570795044278837,-0.4120004216363192,0.0],"actuator_force":[9.434048570255982e-05,-21.684726303953994,-20.28475174435107,-2.4134992232492323,0.0006254960900378137,-9.86796919733024e-07,-0.2933598435065704],"issued_joint_targets_rad":[-1.9827967448926418,-1.537724537940252,1.2717625387344909,-1.3048346100371095,-1.5707962977032586,-0.41200041855586494],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.959999999998256,"joint_targets_rad":[-1.9827967448926418,-1.537724537940252,1.2717625387344909,-1.3048346100371095,-1.5707962977032586,-0.41200041855586494],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.979999999998245,"qpos":[-1.9827971564921278,-1.5377378295329245,1.2718119736169018,-1.3048767887398438,-1.5707961223025613,-0.41200059807119555,0.002933587692009036,0.00015630097601958184,0.0031934575298940625,-0.0034292750038306488,0.002933587827139269,0.00015630140063399507,0.0031978326600373475,-0.0034379718879874194,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,-8.931889196855771e-18,1.6772620412212435e-18,-1.9096452384220852e-07],"qvel":[1.8439637215865636e-06,6.596703316386319e-05,-0.0002503544169052747,0.0002121561013692885,-8.796738127666292e-07,9.066807778935517e-07,1.1962709775305046e-07,2.957182868191627e-09,1.1223676578526281e-07,-1.2126251582149578e-07,1.1850352986123617e-07,-1.3146108479301312e-09,8.927663608392985e-08,-1.2635197267368447e-07,1.590167435379571e-17,1.5231937732542334e-17,1.1282108622202988e-14,2.781023649338934e-15,-2.406701471713232e-15,-8.461034081598566e-08],"joint_position_rad":[-1.9827971564921278,-1.5377378295329245,1.2718119736169018,-1.3048767887398438,-1.5707961223025613,-0.41200059807119555],"joint_velocity_rad_s":[1.8439637215865636e-06,6.596703316386319e-05,-0.0002503544169052747,0.0002121561013692885,-8.796738127666292e-07,9.066807778935517e-07],"linkage_position_rad":[0.002933587692009036,0.00015630097601958184,0.0031934575298940625,-0.0034292750038306488,0.002933587827139269,0.00015630140063399507,0.0031978326600373475,-0.0034379718879874194],"tcp_position_m":[0.07433920076981627,0.5047369723701987,0.43498707469734754],"tcp_quaternion_wxyz":[-1.2475181547229648e-06,0.7071068630749526,0.7071066992910691,2.903961869889301e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,-8.931889196855771e-18,1.6772620412212435e-18,-1.9096452384220852e-07],"object_linear_velocity_m_s":[1.590167435379571e-17,1.5231937732542334e-17,1.1282108622202988e-14],"object_angular_velocity_rad_s":[2.781022729865705e-15,-2.406702535378233e-15,-8.461034081598574e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513355749665,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967448893011,-1.548567031137884,1.2616194691158338,-1.3096613281420415,-1.570795047359986,-0.4120004185477681,0.0],"actuator_force":[8.562016500945901e-05,-21.684790023184632,-20.284867235373895,-2.4134853112358314,0.0006254386689761304,-9.063640789008787e-07,-0.2933599666105533],"issued_joint_targets_rad":[-1.9827967421309922,-1.5377245105302022,1.2717624917974462,-1.3048345637811718,-1.570796300439085,-0.41200041575674246],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.979999999998245,"joint_targets_rad":[-1.9827967421309922,-1.5377245105302022,1.2717624917974462,-1.3048345637811718,-1.570796300439085,-0.41200041575674246],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.999999999998234,"qpos":[-1.9827971209429842,-1.5377365740940914,1.2718072188699034,-1.3048727573598882,-1.5707961392603722,-0.4120005806093281,0.0029335899705635006,0.00015630103744830468,0.003193459653117829,-0.0034292773251327945,0.002933590080576232,0.00015630137014213807,0.0031978342991686145,-0.0034379743098705276,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,1.6227543594567748e-18,-6.5638650231263914e-18,-1.9128534058471957e-07],"qvel":[1.699817880268276e-06,5.988216104580095e-05,-0.000226509446104939,0.00019211303220534944,-8.083207691065493e-07,8.326231187575967e-07,1.0802878778128564e-07,2.672572134234955e-09,1.0134724281105056e-07,-1.0950101134952768e-07,1.0701253727022416e-07,-1.1926620035266627e-09,8.056167940483585e-08,-1.1411465387779784e-07,5.2761003660658625e-18,1.3713096262690454e-18,1.1126677398755464e-14,1.5924379177066534e-16,-4.9263362415690444e-17,-9.15631372727553e-09],"joint_position_rad":[-1.9827971209429842,-1.5377365740940914,1.2718072188699034,-1.3048727573598882,-1.5707961392603722,-0.4120005806093281],"joint_velocity_rad_s":[1.699817880268276e-06,5.988216104580095e-05,-0.000226509446104939,0.00019211303220534944,-8.083207691065493e-07,8.326231187575967e-07],"linkage_position_rad":[0.0029335899705635006,0.00015630103744830468,0.003193459653117829,-0.0034292773251327945,0.002933590080576232,0.00015630137014213807,0.0031978342991686145,-0.0034379743098705276],"tcp_position_m":[0.07433920148593269,0.5047370068773399,0.4349883273648302],"tcp_quaternion_wxyz":[-1.1425787659514033e-06,0.7071068566807421,0.7071067056864206,2.6593505166767797e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,1.6227543594567748e-18,-6.5638650231263914e-18,-1.9128534058471957e-07],"object_linear_velocity_m_s":[5.2761003660658625e-18,1.3713096262690454e-18,1.1126677398755464e-14],"object_angular_velocity_rad_s":[1.5924377304413736e-16,-4.926342330797591e-17,-9.15631372727554e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513342598113,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967421282624,-1.548567021402892,1.2616194311818842,-1.309661280115857,-1.5707950501522427,-0.41200041574932705,0.0],"actuator_force":[7.770229149173247e-05,-21.68484748201945,-20.284971597596268,-2.4134726812050076,0.0006253861416780637,-8.323113434016705e-07,-0.2933600777636119],"issued_joint_targets_rad":[-1.9827967396292772,-1.5377244857269858,1.2717624493230761,-1.304834521910221,-1.5707963029176835,-0.41200041322054387],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.999999999998234,"joint_targets_rad":[-1.9827967396292772,-1.5377244857269858,1.2717624493230761,-1.304834521910221,-1.5707963029176835,-0.41200041322054387],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.019999999998223,"qpos":[-1.98279708818103,-1.5377354344754024,1.2718029169842207,-1.3048691068406997,-1.5707961548393767,-0.41200056457687295,0.0029335920282062083,0.0001563010929713901,0.0031934615703221314,-0.0034292794213092877,0.002933592115498828,0.00015630134249107106,0.0031978357781385137,-0.003437976497224207,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,5.216548485031907e-18,-3.533731632074631e-18,-1.9168511602429818e-07],"qvel":[1.5664863931459762e-06,5.435724374713953e-05,-0.00020493591226844815,0.0001739632547644763,-7.425975239276852e-07,7.644571154728244e-07,9.755374243835638e-08,2.415377222745238e-09,9.151308602830091e-08,-9.887919305577707e-08,9.663456212969794e-08,-1.0820010741792546e-09,7.269617780022522e-08,-1.0306126311194951e-07,5.271439040180215e-18,1.0372585179956186e-17,1.108781959289358e-14,3.977638174727736e-16,4.884320180229723e-16,-3.680550807312998e-08],"joint_position_rad":[-1.98279708818103,-1.5377354344754024,1.2718029169842207,-1.3048691068406997,-1.5707961548393767,-0.41200056457687295],"joint_velocity_rad_s":[1.5664863931459762e-06,5.435724374713953e-05,-0.00020493591226844815,0.0001739632547644763,-7.425975239276852e-07,7.644571154728244e-07],"linkage_position_rad":[0.0029335920282062083,0.0001563010929713901,0.0031934615703221314,-0.0034292794213092877,0.002933592115498828,0.00015630134249107106,0.0031978357781385137,-0.003437976497224207],"tcp_position_m":[0.07433920197624262,0.504737038322226,0.4349894585637284],"tcp_quaternion_wxyz":[-1.0462735340857409e-06,0.707106850766481,0.7071067116016403,2.434887757839011e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,5.216548485031907e-18,-3.533731632074631e-18,-1.9168511602429818e-07],"object_linear_velocity_m_s":[5.271439040180215e-18,1.0372585179956186e-17,1.108781959289358e-14],"object_angular_velocity_rad_s":[3.977640049831626e-16,4.884318659161255e-16,-3.680550807313002e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513330733553,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967396270465,-1.5485670126746118,1.2616193968497946,-1.3096612366203,-1.570795052682684,-0.41200041321375386,0.0],"actuator_force":[7.051340980979148e-05,-21.684899295917603,-20.285065903944997,-2.413461215276584,0.0006253380987573109,-7.641520198831131e-07,-0.2933601781267747],"issued_joint_targets_rad":[-1.9827967373630369,-1.5377244632815745,1.2717624108855063,-1.3048344840081378,-1.570796305163233,-0.41200041092257916],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.019999999998223,"joint_targets_rad":[-1.9827967373630369,-1.5377244632815745,1.2717624108855063,-1.3048344840081378,-1.570796305163233,-0.41200041092257916],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.039999999998212,"qpos":[-1.9827970579962348,-1.5377344000167708,1.2717990248211917,-1.3048658012053505,-1.570796169148727,-0.4120005498597692,0.0029335938863337073,0.000156301143156928,0.003193463301475998,-0.0034292813141720536,0.0029335939530747345,0.00015630131741636017,0.0031978371125716185,-0.003437978472741951,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,6.387453069410136e-18,3.2837065445396714e-19,-1.9182467134451811e-07],"qvel":[1.4432082344003402e-06,4.934089255492454e-05,-0.00018541741627121195,0.00015752795232987544,-6.820772657797225e-07,7.01731374593211e-07,8.809343643636696e-08,2.1829109081319987e-09,8.263221543097559e-08,-8.928686649086998e-08,8.726205809551018e-08,-9.815792914612664e-10,6.559755685175422e-08,-9.307805087223659e-08,1.5138320783476698e-18,6.731135839968563e-18,1.1061451796058726e-14,-2.5875409143581216e-16,4.078696172967384e-16,-3.982997533862636e-09],"joint_position_rad":[-1.9827970579962348,-1.5377344000167708,1.2717990248211917,-1.3048658012053505,-1.570796169148727,-0.4120005498597692],"joint_velocity_rad_s":[1.4432082344003402e-06,4.934089255492454e-05,-0.00018541741627121195,0.00015752795232987544,-6.820772657797225e-07,7.01731374593211e-07],"linkage_position_rad":[0.0029335938863337073,0.000156301143156928,0.003193463301475998,-0.0034292813141720536,0.0029335939530747345,0.00015630131741636017,0.0031978371125716185,-0.003437978472741951],"tcp_position_m":[0.07433920227580514,0.5047370669735476,0.4349904800789715],"tcp_quaternion_wxyz":[-9.579135808757612e-07,0.7071068452982551,0.7071067170706719,2.2289648537430834e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,6.387453069410136e-18,3.2837065445396714e-19,-1.9182467134451811e-07],"object_linear_velocity_m_s":[1.5138320783476698e-18,6.731135839968563e-18,1.1061451796058726e-14],"object_angular_velocity_rad_s":[-2.587539349594987e-16,4.0786971661842842e-16,-3.982997533862641e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351332003028,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796737361214,-1.5485670048481552,1.2616193657760122,-1.3096611972276504,-1.5707950549758518,-0.4120004109163629,0.0],"actuator_force":[6.3986747591116e-05,-21.684946019790914,-20.285151123850483,-2.4134508063829117,0.0006252941642514998,-7.014343168521009e-07,-0.2933602687478947],"issued_joint_targets_rad":[-1.9827967353101128,-1.5377244429689336,1.2717623760997947,-1.3048344496983728,-1.5707963071976392,-0.41200040884047734],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.039999999998212,"joint_targets_rad":[-1.9827967353101128,-1.5377244429689336,1.2717623760997947,-1.3048344496983728,-1.5707963071976392,-0.41200040884047734],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.059999999998201,"qpos":[-1.982797030193456,-1.5377334610366233,1.2717955033519643,-1.3048628078748905,-1.5707961822892598,-0.4120005363527336,0.0029335955642750787,0.0001563011885182916,0.0031934648646185573,-0.003429283023427662,0.002933595612426044,0.00015630129467844966,0.0031978383165742886,-0.003437980256924809,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,7.127945939478257e-18,-1.9086438846285608e-18,-1.9226360177372343e-07],"qvel":[1.3292701398793127e-06,4.478641943162453e-05,-0.00016775817651278074,0.00014264519405906117,-6.263635638255267e-07,6.440271228222384e-07,7.954981084980562e-08,1.9728455467833846e-09,7.461256005908101e-08,-8.062434745374914e-08,7.879784854379595e-08,-8.904667366447177e-10,5.9191320187026456e-08,-8.406098381737439e-08,6.766103415902416e-18,8.4621147328857e-18,1.106422735362029e-14,-9.91971930329861e-17,1.1067623783107621e-16,-1.6010400282718284e-08],"joint_position_rad":[-1.982797030193456,-1.5377334610366233,1.2717955033519643,-1.3048628078748905,-1.5707961822892598,-0.4120005363527336],"joint_velocity_rad_s":[1.3292701398793127e-06,4.478641943162453e-05,-0.00016775817651278074,0.00014264519405906117,-6.263635638255267e-07,6.440271228222384e-07],"linkage_position_rad":[0.0029335955642750787,0.0001563011885182916,0.0031934648646185573,-0.003429283023427662,0.002933595612426044,0.00015630129467844966,0.0031978383165742886,-0.003437980256924809],"tcp_position_m":[0.07433920241519927,0.5047370930767542,0.4349914025514865],"tcp_quaternion_wxyz":[-8.768625385347631e-07,0.7071068402443063,0.7071067221252963,2.0400957008419726e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,7.127945939478257e-18,-1.9086438846285608e-18,-1.9226360177372343e-07],"object_linear_velocity_m_s":[6.766103415902416e-18,8.4621147328857e-18,1.106422735362029e-14],"object_angular_velocity_rad_s":[-9.919715041383833e-17,1.1067627620332994e-16,-1.6010400282718304e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513310374796,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967353086233,-1.54856699782972,1.2616193376500433,-1.3096611615506382,-1.5707950570539875,-0.4120004088347874,0.0],"actuator_force":[5.80616097067832e-05,-21.68498815396606,-20.28522813323707,-2.4134413572796802,0.0006252539925526435,-6.437391562030825e-07,-0.29336035057335313],"issued_joint_targets_rad":[-1.9827967334504315,-1.5377244245856694,1.2717623446179385,-1.3048344186401648,-1.5707963090407502,-0.412000406953966],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.059999999998201,"joint_targets_rad":[-1.9827967334504315,-1.5377244245856694,1.2717623446179385,-1.3048344186401648,-1.5707963090407502,-0.412000406953966],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.07999999999819,"qpos":[-1.9827970045914918,-1.5377326087423695,1.271792317265927,-1.3048600973474649,-1.5707961943540911,-0.41200052395862174,0.0029335970794906463,0.0001563012295195221,0.0031934662760419092,-0.0034292845668732383,0.002933597110825823,0.00015630127405974315,0.0031978394028788324,-0.0034379818682932282,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,-3.7468659625709845e-18,1.310298553908233e-17,-1.9257687465789235e-07],"qvel":[1.2240043066933126e-06,4.065140881106385e-05,-0.00015178106470054858,0.00012916834080552088,-5.750884522244251e-07,5.909560962711212e-07,7.183421318930977e-08,1.7829975076138716e-09,6.737063682458606e-08,-7.28015412934608e-08,7.115408192304164e-08,-8.077756796301464e-10,5.341012902912215e-08,-7.591699596569562e-08,-4.315273532274359e-17,-2.1116618616459355e-17,1.0974021732869497e-14,-2.2436908303414247e-15,3.1671231391492836e-15,-6.435678531897802e-08],"joint_position_rad":[-1.9827970045914918,-1.5377326087423695,1.271792317265927,-1.3048600973474649,-1.5707961943540911,-0.41200052395862174],"joint_velocity_rad_s":[1.2240043066933126e-06,4.065140881106385e-05,-0.00015178106470054858,0.00012916834080552088,-5.750884522244251e-07,5.909560962711212e-07],"linkage_position_rad":[0.0029335970794906463,0.0001563012295195221,0.0031934662760419092,-0.0034292845668732383,0.002933597110825823,0.00015630127405974315,0.0031978394028788324,-0.0034379818682932282],"tcp_position_m":[0.07433920242104496,0.5047371168560305,0.43499223558931155],"tcp_quaternion_wxyz":[-8.025328370129928e-07,0.7071068355749274,0.7071067267952434,1.866908168355163e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,-3.7468659625709845e-18,1.310298553908233e-17,-1.9257687465789235e-07],"object_linear_velocity_m_s":[-4.315273532274359e-17,-2.1116618616459355e-17,1.0974021732869497e-14],"object_angular_velocity_rad_s":[-2.2436896121984426e-15,3.1671240028327172e-15,-6.435678531897813e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513301664712,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967334492143,-1.5485669915353861,1.2616193121912134,-1.309661129238599,-1.5707950589372486,-0.4120004069487587,0.0],"actuator_force":[5.2682832119899103e-05,-21.68502614955787,-20.28529772354659,-2.4134327796475645,0.0006252172664744649,-5.906781268549821e-07,-0.29336042445729904],"issued_joint_targets_rad":[-1.9827967317658068,-1.5377244079479222,1.271762316125289,-1.3048343905251285,-1.5707963107105494,-0.4120004052446758],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.07999999999819,"joint_targets_rad":[-1.9827967317658068,-1.5377244079479222,1.271762316125289,-1.3048343905251285,-1.5707963107105494,-0.4120004052446758],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.099999999998179,"qpos":[-1.98279698102218,-1.5377318351490292,1.271789434616445,-1.3048576429077297,-1.570796205429177,-0.41200051258783105,0.0029335984477518702,0.00015630126657987183,0.003193467550463177,-0.0034292859605832703,0.0029335984638761722,0.0001563012553630375,0.00319784038297961,-0.0034379833235779218,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,-1.0217152834955034e-17,2.0283011704533528e-17,-1.9282089606266866e-07],"qvel":[1.1267861435803596e-06,3.6897328155315126e-05,-0.000137325828685175,0.00011696460137112967,-5.279105932721329e-07,5.421585106788524e-07,6.486653042712656e-08,1.6114278397231033e-09,6.083131845449253e-08,-6.573728162765013e-08,6.425137010281968e-08,-7.32752390551926e-10,4.819307348479113e-08,-6.856164147153094e-08,-2.133472316014193e-17,-1.0020939969835086e-17,1.0953205051157769e-14,1.2177848302877244e-16,-3.261951662165407e-16,-6.964525980826053e-09],"joint_position_rad":[-1.98279698102218,-1.5377318351490292,1.271789434616445,-1.3048576429077297,-1.570796205429177,-0.41200051258783105],"joint_velocity_rad_s":[1.1267861435803596e-06,3.6897328155315126e-05,-0.000137325828685175,0.00011696460137112967,-5.279105932721329e-07,5.421585106788524e-07],"linkage_position_rad":[0.0029335984477518702,0.00015630126657987183,0.003193467550463177,-0.0034292859605832703,0.0029335984638761722,0.0001563012553630375,0.00319784038297961,-0.0034379833235779218],"tcp_position_m":[0.07433920231646425,0.5047371385160999,0.434992987867912],"tcp_quaternion_wxyz":[-7.343822146939408e-07,0.7071068312623522,0.7071067311082943,1.7081359612167143e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,-1.0217152834955034e-17,2.0283011704533528e-17,-1.9282089606266866e-07],"object_linear_velocity_m_s":[-2.133472316014193e-17,-1.0020939969835086e-17,1.0953205051157769e-14],"object_angular_velocity_rad_s":[1.2177835695175193e-16,-3.261952133217046e-16,-6.9645259808260635e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351329380753,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796731764812,-1.5485669858900537,1.2616192891457627,-1.309661099974005,-1.5707950606439045,-0.41200040523991105,0.0],"actuator_force":[4.780027802553377e-05,-21.685060413311476,-20.285360609890176,-2.41342499327493,0.0006251836956607804,-5.418910689058976e-07,-0.29336049117090474],"issued_joint_targets_rad":[-1.982796730239764,-1.5377243928894646,1.2717622903373238,-1.3048343650741725,-1.5707963122233288,-0.4120004036959628],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.099999999998179,"joint_targets_rad":[-1.982796730239764,-1.5377243928894646,1.2717622903373238,-1.3048343650741725,-1.5707963122233288,-0.4120004036959628],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.119999999998168,"qpos":[-1.9827969593295456,-1.5377311330052772,1.2717868265003505,-1.3048554203636997,-1.5707962155938346,-0.4120005021577441,0.0029335996833040924,0.00015630130007828537,0.003193468701172921,-0.003429287219079086,0.0029335996856692426,0.00015630123840940354,0.0031978412672499083,-0.0034379846378911807,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,1.9470046312053143e-18,2.3083038664939962e-17,-1.9322296534943583e-07],"qvel":[1.037032003737568e-06,3.348917384118696e-05,-0.00012424748454203997,0.0001059137250146321,-4.845135092650493e-07,4.973011490342207e-07,5.857437213971743e-08,1.456381494729748e-09,5.492641804100863e-08,-5.9358415268207673e-08,5.8017976470747834e-08,-6.646939044628173e-10,4.3485202830046655e-08,-6.191861331122019e-08,-2.792960851126349e-17,7.626668794564011e-19,1.0892142784803387e-14,8.866722342538603e-16,-1.392960966179373e-16,-2.799520908171183e-08],"joint_position_rad":[-1.9827969593295456,-1.5377311330052772,1.2717868265003505,-1.3048554203636997,-1.5707962155938346,-0.4120005021577441],"joint_velocity_rad_s":[1.037032003737568e-06,3.348917384118696e-05,-0.00012424748454203997,0.0001059137250146321,-4.845135092650493e-07,4.973011490342207e-07],"linkage_position_rad":[0.0029335996833040924,0.00015630130007828537,0.003193468701172921,-0.003429287219079086,0.0029335996856692426,0.00015630123840940354,0.0031978412672499083,-0.0034379846378911807],"tcp_position_m":[0.07433920212149546,0.5047371582438909,0.43499366722074606],"tcp_quaternion_wxyz":[-6.719104496141737e-07,0.7071068272806529,0.707106735090393,1.5626109908410767e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,1.9470046312053143e-18,2.3083038664939962e-17,-1.9322296534943583e-07],"object_linear_velocity_m_s":[-2.792960851126349e-17,7.626668794564011e-19,1.0892142784803387e-14],"object_angular_velocity_rad_s":[8.866721791309571e-16,-1.392964391597901e-16,-2.799520908171188e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513286719849,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796730238951,-1.5485669808264961,1.2616192682842342,-1.309661073469329,-1.5707950621905113,-0.4120004036916037,0.0],"actuator_force":[4.336838765084394e-05,-21.685091311974247,-20.285417438415607,-2.413417925316139,0.0006251530126064608,-4.970446809693385e-07,-0.2933605514104098],"issued_joint_targets_rad":[-1.9827967288573778,-1.5377243792599882,1.2717622669967314,-1.3048343420347057,-1.5707963135938514,-0.41200040229274537],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.119999999998168,"joint_targets_rad":[-1.9827967288573778,-1.5377243792599882,1.2717622669967314,-1.3048343420347057,-1.5707963135938514,-0.41200040229274537],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.139999999998157,"qpos":[-1.9827969393689915,-1.537730495726238,1.271784466767972,-1.3048534078084477,-1.570796224921228,-0.4120004925922096,0.0029336007990137187,0.00015630133035736795,0.0031934697401751404,-0.0034292883554747546,0.0029336007889328502,0.00015630122303649083,0.0031978420650521358,-0.003437985824885428,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,5.567470401117287e-18,1.7365627769920053e-17,-1.933838658820459e-07],"qvel":[9.541969929953884e-07,3.0395149182497813e-05,-0.00011241486188635907,9.59068174090984e-05,-4.4460396585376033e-07,4.5607556121205976e-07,5.28923320977762e-08,1.3162438620063345e-09,4.959441420965511e-08,-5.359826198783181e-08,5.238908813845674e-08,-6.029496951839194e-10,3.923694719619343e-08,-5.591918327535795e-08,-4.054513105633385e-17,3.844382742005714e-17,1.0906020572611203e-14,2.8139838890438893e-15,1.0547669262101335e-15,-1.125319560422216e-07],"joint_position_rad":[-1.9827969393689915,-1.537730495726238,1.271784466767972,-1.3048534078084477,-1.570796224921228,-0.4120004925922096],"joint_velocity_rad_s":[9.541969929953884e-07,3.0395149182497813e-05,-0.00011241486188635907,9.59068174090984e-05,-4.4460396585376033e-07,4.5607556121205976e-07],"linkage_position_rad":[0.0029336007990137187,0.00015630133035736795,0.0031934697401751404,-0.0034292883554747546,0.0029336007889328502,0.00015630122303649083,0.0031978420650521358,-0.003437985824885428],"tcp_position_m":[0.07433920185345831,0.5047371762100527,0.43499428072103274],"tcp_quaternion_wxyz":[-6.146562994294548e-07,0.7071068236056366,0.7071067387657437,1.4292562298355385e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,5.567470401117287e-18,1.7365627769920053e-17,-1.933838658820459e-07],"object_linear_velocity_m_s":[-4.054513105633385e-17,3.844382742005714e-17,1.0906020572611203e-14],"object_angular_velocity_rad_s":[2.81398429308512e-15,1.054765839104928e-15,-1.125319560422218e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513280326374,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967288567134,-1.5485669762845162,1.261619249399115,-1.3096610494641991,-1.5707950635920753,-0.41200040228875795,0.0],"actuator_force":[3.934575897801551e-05,-21.68511917622891,-20.28546879295982,-2.4134115096165942,0.0006251249728848052,-4.5583027485918137e-07,-0.29336060580442963],"issued_joint_targets_rad":[-1.9827967276051275,-1.5377243669235636,1.2717622458707794,-1.304834321178113,-1.5707963148354909,-0.41200040102135754],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.139999999998157,"joint_targets_rad":[-1.9827967276051275,-1.5377243669235636,1.2717622458707794,-1.304834321178113,-1.5707963148354909,-0.41200040102135754],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.159999999998146,"qpos":[-1.9827969210065344,-1.537729917332414,1.2717823317607886,-1.3048515854042995,-1.570796233478825,-0.4120004838210589,0.002933601806501231,0.00015630135772662883,0.003193470678310442,-0.0034292893816124117,0.0029336017851621446,0.00015630120909712418,0.003197842784835852,-0.0034379868968915472,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999822,1.3374724313662147e-17,1.3297284497547094e-17,-1.9381055291837856e-07],"qvel":[8.777728189894053e-07,2.7586371677118824e-05,-0.00010170928774197703,8.684526836246012e-05,-4.079103674660824e-07,4.1819636493605046e-07,4.776132735060515e-08,1.189603431842128e-09,4.477990622932489e-08,-4.8396905938607624e-08,4.7306158110666116e-08,-5.469121751073292e-10,3.5403550664236374e-08,-5.050082515781507e-08,-1.8567381745869887e-17,1.5014635109302768e-17,1.0800549385271815e-14,-9.310727759992225e-17,-8.43332234521479e-16,-1.2177919199113433e-08],"joint_position_rad":[-1.9827969210065344,-1.537729917332414,1.2717823317607886,-1.3048515854042995,-1.570796233478825,-0.4120004838210589],"joint_velocity_rad_s":[8.777728189894053e-07,2.7586371677118824e-05,-0.00010170928774197703,8.684526836246012e-05,-4.079103674660824e-07,4.1819636493605046e-07],"linkage_position_rad":[0.002933601806501231,0.00015630135772662883,0.003193470678310442,-0.0034292893816124117,0.0029336017851621446,0.00015630120909712418,0.003197842784835852,-0.0034379868968915472],"tcp_position_m":[0.07433920152727985,0.5047371925703518,0.4349948347555723],"tcp_quaternion_wxyz":[-5.621946382145077e-07,0.707106820214747,0.7071067421569139,1.3070790303000063e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999822,1.3374724313662147e-17,1.3297284497547094e-17,-1.9381055291837856e-07],"object_linear_velocity_m_s":[-1.8567381745869887e-17,1.5014635109302768e-17,1.0800549385271815e-14],"object_angular_velocity_rad_s":[-9.310760481715523e-17,-8.433321981053187e-16,-1.2177919199113458e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513274559172,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967276045846,-1.548566972210199,1.2616192323027082,-1.3096610277228276,-1.5707950648621947,-0.41200040101771074,0.0],"actuator_force":[3.569477212295169e-05,-21.68514430424102,-20.285515201063845,-2.4134056861003046,0.0006250993519643089,-4.1796238292590715e-07,-0.2933606549205961],"issued_joint_targets_rad":[-1.9827967264707655,-1.5377243557572529,1.271762226748958,-1.304834302297478,-1.5707963159603655,-0.41200039986941633],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.159999999998146,"joint_targets_rad":[-1.9827967264707655,-1.5377243557572529,1.271762226748958,-1.304834302297478,-1.5707963159603655,-0.41200039986941633],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.179999999998135,"qpos":[-1.9827969041180853,-1.5377293923941875,1.2717804000740829,-1.3048499351874083,-1.5707962413288183,-0.41200047577965637,0.002933602716261533,0.00015630138246582425,0.0031934715253683957,-0.0034292903081872064,0.0029336026847386573,0.00015630119645781613,0.0031978434342263863,-0.0034379878650476693,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,-6.292661037158826e-19,1.834641358202002e-17,-1.9414710991623712e-07],"qvel":[8.072856973904947e-07,2.5036606855299934e-05,-9.202339575206074e-05,7.863978072111118e-05,-3.7418132016319e-07,3.8339964386058747e-07,4.312796578241155e-08,1.0751460819110687e-09,4.0432731001428097e-08,-4.370027308390183e-08,4.271627991089579e-08,-4.960787020329738e-10,3.194449157209568e-08,-4.56073221049865e-08,-3.1281497710957955e-17,-1.1214765532544188e-17,1.1090595150455137e-14,-1.9582366567062322e-15,1.0703324191200258e-15,-4.895141393655838e-08],"joint_position_rad":[-1.9827969041180853,-1.5377293923941875,1.2717804000740829,-1.3048499351874083,-1.5707962413288183,-0.41200047577965637],"joint_velocity_rad_s":[8.072856973904947e-07,2.5036606855299934e-05,-9.202339575206074e-05,7.863978072111118e-05,-3.7418132016319e-07,3.8339964386058747e-07],"linkage_position_rad":[0.002933602716261533,0.00015630138246582425,0.0031934715253683957,-0.0034292903081872064,0.0029336026847386573,0.00015630119645781613,0.0031978434342263863,-0.0034379878650476693],"tcp_position_m":[0.07433920115578456,0.5047372074669493,0.4349953350913973],"tcp_quaternion_wxyz":[-5.141337851061928e-07,0.7071068170869688,0.7071067452849271,1.1951648806382885e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,-6.292661037158826e-19,1.834641358202002e-17,-1.9414710991623712e-07],"object_linear_velocity_m_s":[-3.1281497710957955e-17,-1.1214765532544188e-17,1.1090595150455137e-14],"object_angular_velocity_rad_s":[-1.9582362428983585e-15,1.0703331794303134e-15,-4.895141393655838e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513269356939,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796726470322,-1.5485669685552463,1.2616192168252327,-1.309661008031688,-1.5707950660131946,-0.41200039986608156,0.0],"actuator_force":[3.2381247820012504e-05,-21.685166964859945,-20.28555713939977,-2.4134004002119127,0.000625075943844422,-3.831769959106168e-07,-0.2933606992712379],"issued_joint_targets_rad":[-1.9827967254431946,-1.5377243456498546,1.271762209440833,-1.304834285205515,-1.570796316979453,-0.41200039882570305],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.179999999998135,"joint_targets_rad":[-1.9827967254431946,-1.5377243456498546,1.271762209440833,-1.304834285205515,-1.570796316979453,-0.41200039882570305],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.199999999998123,"qpos":[-1.982796888588774,-1.5377289159813963,1.2717786523422092,-1.3048484408907843,-1.5707962485285207,-0.41200046840848104,0.0029336035377727065,0.00015630140482791305,0.0031934722901895795,-0.00342929114486128,0.0029336034970378995,0.00015630118499733507,0.003197844020104874,-0.003437988739410677,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,-6.058526532033585e-18,1.6173729169544465e-17,-1.9433271882655453e-07],"qvel":[7.422943730508617e-07,2.272202633463235e-05,-8.326004890108897e-05,7.12094910050375e-05,-3.431842150441825e-07,3.514414348119458e-07,3.8944025527585164e-08,9.717106196833919e-10,3.65075011949621e-08,-3.945926131252713e-08,3.8571667048500206e-08,-4.4997277941322095e-10,2.8823211315179382e-08,-4.118823910012586e-08,-1.8631166094864358e-17,-5.937330875877489e-18,1.1641543326425373e-14,2.949690542203239e-16,-7.892601297251736e-16,-5.297396264738509e-09],"joint_position_rad":[-1.982796888588774,-1.5377289159813963,1.2717786523422092,-1.3048484408907843,-1.5707962485285207,-0.41200046840848104],"joint_velocity_rad_s":[7.422943730508617e-07,2.272202633463235e-05,-8.326004890108897e-05,7.12094910050375e-05,-3.431842150441825e-07,3.514414348119458e-07],"linkage_position_rad":[0.0029336035377727065,0.00015630140482791305,0.0031934722901895795,-0.00342929114486128,0.0029336034970378995,0.00015630118499733507,0.003197844020104874,-0.003437988739410677],"tcp_position_m":[0.07433920074995205,0.5047372210295697,0.43499578693594565],"tcp_quaternion_wxyz":[-4.7011300937449346e-07,0.7071068142027369,0.7071067481693553,1.092671582127342e-06],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,-6.058526532033585e-18,1.6173729169544465e-17,-1.9433271882655453e-07],"object_linear_velocity_m_s":[-1.8631166094864358e-17,-5.937330875877489e-18,1.1641543326425373e-14],"object_angular_velocity_rad_s":[2.9496874729081057e-16,-7.892602444335794e-16,-5.297396264738509e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513264664353,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796725442832,-1.548566965276383,1.261619202813087,-1.3096609901974063,-1.5707950670562434,-0.41200039882265405,0.0],"actuator_force":[2.9374134555837372e-05,-21.685187400506948,-20.285595038683823,-2.4133956024114696,0.0006250545601460544,-3.5122999975101266e-07,-0.2933607393189932],"issued_joint_targets_rad":[-1.9827967245123637,-1.537724336500777,1.2717621937741277,-1.3048342697327087,-1.5707963179027007,-0.4120003978800513],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.199999999998123,"joint_targets_rad":[-1.9827967245123637,-1.537724336500777,1.2717621937741277,-1.3048342697327087,-1.5707963179027007,-0.4120003978800513],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.219999999998112,"qpos":[-1.9827968743123063,-1.5377284836175178,1.2717770710443206,-1.3048470877840308,-1.5707962551307337,-0.4120004616527378,0.0029336042795943284,0.0001563014250413292,0.003193472980757031,-0.0034292919003524073,0.0029336042305267013,0.0001563011746060111,0.003197844548680634,-0.003437989529069336,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,2.4810850609970037e-17,6.481519753290866e-18,-1.9478654688833052e-07],"qvel":[6.823881417113836e-07,2.062098787231322e-05,-7.533136481872757e-05,6.448117298793829e-05,-3.147039328746268e-07,3.2209632831501306e-07,3.516595815509047e-08,8.782443766583756e-10,3.296330736495752e-08,-3.562965502965349e-08,3.482917082545248e-08,-4.08134430473872e-10,2.6006905746276792e-08,-3.719708786045112e-08,-9.610134873314557e-18,2.834537163792851e-17,1.1756728965230227e-14,7.947827596946228e-16,-6.775722574895439e-16,-2.129387074272267e-08],"joint_position_rad":[-1.9827968743123063,-1.5377284836175178,1.2717770710443206,-1.3048470877840308,-1.5707962551307337,-0.4120004616527378],"joint_velocity_rad_s":[6.823881417113836e-07,2.062098787231322e-05,-7.533136481872757e-05,6.448117298793829e-05,-3.147039328746268e-07,3.2209632831501306e-07],"linkage_position_rad":[0.0029336042795943284,0.0001563014250413292,0.003193472980757031,-0.0034292919003524073,0.0029336042305267013,0.0001563011746060111,0.003197844548680634,-0.003437989529069336],"tcp_position_m":[0.07433920031914353,0.5047372333765738,0.43499619499139075],"tcp_quaternion_wxyz":[-4.298002069500205e-07,0.707106811543847,0.7071067508284101,9.988238194743278e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,2.4810850609970037e-17,6.481519753290866e-18,-1.9478654688833052e-07],"object_linear_velocity_m_s":[-9.610134873314557e-18,2.834537163792851e-17,1.1756728965230227e-14],"object_angular_velocity_rad_s":[7.94782495454609e-16,-6.77572566058833e-16,-2.1293870742722673e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513260431511,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967245120672,-1.5485669623348268,1.261619190127305,-1.3096609740448613,-1.5707950680014642,-0.41200039787726395,0.0],"actuator_force":[2.66452216237667e-05,-21.685205829766346,-20.285629288103337,-2.413391247714003,0.0006250350280652128,-3.218958966044738e-07,-0.29336077548169637],"issued_joint_targets_rad":[-1.9827967236691666,-1.5377243282190127,1.2717621795929677,-1.3048342557256174,-1.5707963187391196,-0.41200039702324903],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.219999999998112,"joint_targets_rad":[-1.9827967236691666,-1.5377243282190127,1.2717621795929677,-1.3048342557256174,-1.5707963187391196,-0.41200039702324903],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.239999999998101,"qpos":[-1.9827968611903697,-1.5377280912380384,1.271775640328607,-1.3048458625282169,-1.5707962611840858,-0.412000455461996,0.0029336049494562266,0.0001563014433125995,0.0031934736042792396,-0.0034292925825401546,0.002933604892850981,0.00015630116518413,0.0031978450255560715,-0.0034379902422294814,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,1.8983591997146723e-17,3.4735603370669135e-18,-1.9500749017041252e-07],"qvel":[6.271850209722792e-07,1.8713835473256894e-05,-6.815783402840106e-05,5.8388516545708724e-05,-2.8854161120446553e-07,2.951561383509493e-07,3.1754394147666034e-08,7.937555102786181e-10,2.9763107950869354e-08,-3.2172139664934866e-08,3.14497800049215e-08,-3.7018472665857123e-10,2.3465714044503112e-08,-3.359275110964302e-08,-1.0046523928887758e-17,-3.473535902042835e-18,1.1787260098407423e-14,-2.594749200846824e-15,-3.181445767828377e-18,-8.559467869640283e-08],"joint_position_rad":[-1.9827968611903697,-1.5377280912380384,1.271775640328607,-1.3048458625282169,-1.5707962611840858,-0.412000455461996],"joint_velocity_rad_s":[6.271850209722792e-07,1.8713835473256894e-05,-6.815783402840106e-05,5.8388516545708724e-05,-2.8854161120446553e-07,2.951561383509493e-07],"linkage_position_rad":[0.0029336049494562266,0.0001563014433125995,0.0031934736042792396,-0.0034292925825401546,0.002933604892850981,0.00015630116518413,0.0031978450255560715,-0.0034379902422294814],"tcp_position_m":[0.07433919987130556,0.5047372446159383,0.43499656350369276],"tcp_quaternion_wxyz":[-3.9288973566850615e-07,0.7071068090933732,0.7071067532790218,9.129081037539071e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,1.8983591997146723e-17,3.4735603370669135e-18,-1.9500749017041252e-07],"object_linear_velocity_m_s":[-1.0046523928887758e-17,-3.473535902042835e-18,1.1787260098407423e-14],"object_angular_velocity_rad_s":[-2.5947492026820746e-15,-3.1804305269805473e-18,-8.559467869640284e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513256613405,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967236689243,-1.548566959695814,1.2616191786421362,-1.3096609594154514,-1.5707950688580297,-0.4120003970207013,0.0],"actuator_force":[2.4168882191588636e-05,-21.685222449741104,-20.2856602393299,-2.4133872952717184,0.0006250171891224454,-2.949664974494226e-07,-0.2933608081362311],"issued_joint_targets_rad":[-1.9827967229053545,-1.5377243207222286,1.2717621667563277,-1.3048342430453543,-1.5707963194968746,-0.41200039624695034],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.239999999998101,"joint_targets_rad":[-1.9827967229053545,-1.5377243207222286,1.2717621667563277,-1.3048342430453543,-1.5707963194968746,-0.41200039624695034],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.25999999999809,"qpos":[-1.9827968491320667,-1.5377277351526348,1.2717743458532809,-1.3048447530444558,-1.5707962667333493,-0.41200044978985506,0.002933605554338931,0.00015630145982854058,0.0031934741672655052,-0.0034292931985367273,0.002933605490915365,0.0001563011566413679,0.0031978454557869936,-0.003437990886304058,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,5.058929920753307e-18,2.7311704864941535e-18,-1.953320392235286e-07],"qvel":[5.763299542615968e-07,1.6982717634755556e-05,-6.166752208380402e-05,5.287147452024633e-05,-2.6451350733330063e-07,2.704286613358601e-07,2.86738078230639e-08,7.173960112294666e-10,2.6873774428114887e-08,-2.9049876111128366e-08,2.8398294163287486e-08,-3.357510555137312e-10,2.117278895508741e-08,-3.033773564935059e-08,-3.0980281702680323e-18,6.954016278959189e-18,1.1520806572497385e-14,-7.465533568305845e-16,-6.222395391543369e-17,-9.262836244024756e-09],"joint_position_rad":[-1.9827968491320667,-1.5377277351526348,1.2717743458532809,-1.3048447530444558,-1.5707962667333493,-0.41200044978985506],"joint_velocity_rad_s":[5.763299542615968e-07,1.6982717634755556e-05,-6.166752208380402e-05,5.287147452024633e-05,-2.6451350733330063e-07,2.704286613358601e-07],"linkage_position_rad":[0.002933605554338931,0.00015630145982854058,0.0031934741672655052,-0.0034292931985367273,0.002933605490915365,0.0001563011566413679,0.0031978454557869936,-0.003437990886304058],"tcp_position_m":[0.07433919941314658,0.5047372548461553,0.4349968963068844],"tcp_quaternion_wxyz":[-3.5910040482418097e-07,0.7071068068355851,0.7071067555369249,8.34268068889029e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,5.058929920753307e-18,2.7311704864941535e-18,-1.953320392235286e-07],"object_linear_velocity_m_s":[-3.0980281702680323e-18,6.954016278959189e-18,1.1520806572497385e-14],"object_angular_velocity_rad_s":[-7.465533811897882e-16,-6.222366217012972e-17,-9.26283624402476e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513253169409,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967229051564,-1.5485669573281853,1.261619168243799,-1.3096609461655426,-1.5707950696342536,-0.41200039624462187,0.0],"actuator_force":[2.1921838651906e-05,-21.685237438155127,-20.285688210130502,-2.413383707995422,0.0006250008985944078,-2.7024952942156233e-07,-0.29336083762322474],"issued_joint_targets_rad":[-1.9827967222134542,-1.5377243139359251,1.2717621551365947,-1.3048342315661996,-1.5707963201833623,-0.4120003955435923],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.25999999999809,"joint_targets_rad":[-1.9827967222134542,-1.5377243139359251,1.2717621551365947,-1.3048342315661996,-1.5707963201833623,-0.4120003955435923],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.27999999999808,"qpos":[-1.9827968380533925,-1.5377274120108146,1.2717731746427146,-1.3048437483948911,-1.5707962718197384,-0.41200044459363355,0.002933606100546089,0.00015630147475781528,0.0031934746755932887,-0.003429293754766369,0.002933606030954847,0.00015630114889574764,0.00319784584393558,-0.0034379914679816973,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,8.350925083615454e-18,-8.50451530434895e-19,-1.957364655616267e-07],"qvel":[5.294931277785661e-07,1.5411422241573237e-05,-5.5795347877073804e-05,4.7875671290010936e-05,-2.4244989113062374e-07,2.4773652044728167e-07,2.5892100941075538e-08,6.483914331839344e-10,2.4264800390703084e-08,-2.623074760566582e-08,2.5642906037097866e-08,-3.045248558757927e-10,1.910387148827209e-08,-2.7398121571681002e-08,4.517049136337127e-18,1.4406012046803764e-17,1.1487499881758632e-14,4.907081066670745e-16,-3.445224881901706e-16,-3.723369516533032e-08],"joint_position_rad":[-1.9827968380533925,-1.5377274120108146,1.2717731746427146,-1.3048437483948911,-1.5707962718197384,-0.41200044459363355],"joint_velocity_rad_s":[5.294931277785661e-07,1.5411422241573237e-05,-5.5795347877073804e-05,4.7875671290010936e-05,-2.4244989113062374e-07,2.4773652044728167e-07],"linkage_position_rad":[0.002933606100546089,0.00015630147475781528,0.0031934746755932887,-0.003429293754766369,0.002933606030954847,0.00015630114889574764,0.00319784584393558,-0.0034379914679816973],"tcp_position_m":[0.07433919895029836,0.5047372641570524,0.43499719686305627],"tcp_quaternion_wxyz":[-3.281735990641661e-07,0.7071068047558755,0.7071067576167314,7.623000989614095e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,8.350925083615454e-18,-8.50451530434895e-19,-1.957364655616267e-07],"object_linear_velocity_m_s":[4.517049136337127e-18,1.4406012046803764e-17,1.1487499881758632e-14],"object_angular_velocity_rad_s":[4.9070797185914e-16,-3.4452267966721364e-16,-3.723369516533035e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513250062866,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967222132923,-1.548566955204,1.2616191588293177,-1.3096609341650485,-1.57079507033767,-0.41200039554146456,0.0],"actuator_force":[1.988294934562873e-05,-21.685250955267293,-20.28571348764308,-2.4133804522076616,0.0006249860233538129,-2.47567555788919e-07,-0.2933608642500816],"issued_joint_targets_rad":[-1.9827967215866968,-1.5377243077926934,1.2717621446182972,-1.304834221174353,-1.5707963208052849,-0.4120003949063227],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.27999999999808,"joint_targets_rad":[-1.9827967215866968,-1.5377243077926934,1.2717621446182972,-1.304834221174353,-1.5707963208052849,-0.4120003949063227],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.299999999998068,"qpos":[-1.9827968278767387,-1.537727118770702,1.2717721149572838,-1.304842838674925,-1.5707962764811783,-0.4120004398340807,0.0029336065937700076,0.00015630148825293113,0.003193475134570029,-0.003429294257026042,0.002933606518599636,0.00015630114187301019,0.0031978461941166406,-0.0034379919933136163,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,7.668037121788576e-18,-7.842489834880656e-19,-1.9587764443739287e-07],"qvel":[4.863683429233231e-07,1.3985226439467138e-05,-5.048243058762322e-05,4.3351867168223634e-05,-2.2219406333306773e-07,2.2691608005494315e-07,2.3380291116814378e-08,5.860228110488975e-10,2.190917691981204e-08,-2.368511615301885e-08,2.3154901740096595e-08,-2.761872068086008e-10,1.7237135632055953e-08,-2.4743519471029475e-08,1.2446675807340708e-18,9.018649213584546e-18,1.1420886500281123e-14,-2.4633495494728373e-16,3.727919753842969e-16,-4.029334841009117e-09],"joint_position_rad":[-1.9827968278767387,-1.537727118770702,1.2717721149572838,-1.304842838674925,-1.5707962764811783,-0.4120004398340807],"joint_velocity_rad_s":[4.863683429233231e-07,1.3985226439467138e-05,-5.048243058762322e-05,4.3351867168223634e-05,-2.2219406333306773e-07,2.2691608005494315e-07],"linkage_position_rad":[0.0029336065937700076,0.00015630148825293113,0.003193475134570029,-0.003429294257026042,0.002933606518599636,0.00015630114187301019,0.0031978461941166406,-0.0034379919933136163],"tcp_position_m":[0.07433919848745339,0.5047372726305459,0.4349974682984604],"tcp_quaternion_wxyz":[-2.9987154509991843e-07,0.707106802840684,0.7071067595320033,6.964492658546699e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,7.668037121788576e-18,-7.842489834880656e-19,-1.9587764443739287e-07],"object_linear_velocity_m_s":[1.2446675807340708e-18,9.018649213584546e-18,1.1420886500281123e-14],"object_angular_velocity_rad_s":[-2.4633480889771694e-16,3.7279207194908416e-16,-4.029334841009119e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513247260721,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967215865645,-1.5485669532982076,1.2616191503055028,-1.3096609232961542,-1.570795070975107,-0.4120003949043786,0.0],"actuator_force":[1.8033011201623594e-05,-21.685263145587214,-20.285736331326916,-2.4133774973315667,0.0006249724418694313,-2.2675695277030172e-07,-0.29336088829444645],"issued_joint_targets_rad":[-1.9827967210189499,-1.537724302231533,1.2717621350969388,-1.304834211766802,-1.5707963213687133,-0.4120003943289328],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.299999999998068,"joint_targets_rad":[-1.9827967210189499,-1.537724302231533,1.2717621350969388,-1.304834211766802,-1.5707963213687133,-0.4120003943289328],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.319999999998057,"qpos":[-1.9827968185304352,-1.5377268526706842,1.2717711561756149,-1.3048420149156215,-1.5707962807525606,-0.41200043547511006,0.0029336070391509524,0.00015630150045169839,0.0031934755489877046,-0.00342929471055359,0.002933606958933838,0.0001563011355057837,0.003197846510044839,-0.0034379924677541513,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,8.318850527971921e-18,1.9557263949073533e-18,-1.9632168128555562e-07],"qvel":[4.466715072281668e-07,1.2690760260678799e-05,-4.5675498940882674e-05,3.925547336600376e-05,-2.0360138769768134e-07,2.0781643369072424e-07,2.111219160866925e-08,5.296784027341092e-10,1.9782343262994762e-08,-2.13865710103447e-08,2.0908331190457175e-08,-2.505109250212672e-10,1.555279029031031e-08,-2.23459526061968e-08,-1.6542986394486598e-18,1.1198523804851326e-17,1.1361212012707515e-14,-3.863552044428082e-16,-1.8597636746073194e-18,-1.61966617175132e-08],"joint_position_rad":[-1.9827968185304352,-1.5377268526706842,1.2717711561756149,-1.3048420149156215,-1.5707962807525606,-0.41200043547511006],"joint_velocity_rad_s":[4.466715072281668e-07,1.2690760260678799e-05,-4.5675498940882674e-05,3.925547336600376e-05,-2.0360138769768134e-07,2.0781643369072424e-07],"linkage_position_rad":[0.0029336070391509524,0.00015630150045169839,0.0031934755489877046,-0.00342929471055359,0.002933606958933838,0.0001563011355057837,0.003197846510044839,-0.0034379924677541513],"tcp_position_m":[0.07433919802849058,0.5047372803413271,0.4349977134361045],"tcp_quaternion_wxyz":[-2.7397569643874335e-07,0.7071068010774315,0.707106761295323,6.362055613838597e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,8.318850527971921e-18,1.9557263949073533e-18,-1.9632168128555562e-07],"object_linear_velocity_m_s":[-1.6542986394486598e-18,1.1198523804851326e-17,1.1361212012707515e-14],"object_angular_velocity_rad_s":[-3.86355205236355e-16,-1.8596117053253303e-18,-1.6196661717513213e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513244733142,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967210188417,-1.5485669515883413,1.2616191425880086,-1.3096609134521568,-1.5707950715527519,-0.4120003943271568,0.0],"actuator_force":[1.6354584204236744e-05,-21.685274139419107,-20.285756975636104,-2.4133748156043566,0.0006249600431829094,-2.0766674424521625e-07,-0.2933609100068535],"issued_joint_targets_rad":[-1.9827967205046584,-1.5377242971972422,1.2717621264779555,-1.304834203250298,-1.5707963218791483,-0.41200039380579806],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.319999999998057,"joint_targets_rad":[-1.9827967205046584,-1.5377242971972422,1.2717621264779555,-1.304834203250298,-1.5707963218791483,-0.41200039380579806],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.339999999998046,"qpos":[-1.9827968099483146,-1.53772661120365,1.2717702886880484,-1.304841268995329,-1.5707962846659769,-0.41200043148355203,0.0029336074413305467,0.00015630151147874894,0.0031934759231726506,-0.0034292951200802202,0.0029336073565482475,0.00015630112973287615,0.003197846795069671,-0.003437992896238935,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,5.885104423081707e-18,9.716889741818059e-18,-1.9663859871676014e-07],"qvel":[4.101391455377672e-07,1.1515882647531301e-05,-4.1326356705629115e-05,3.55461127603595e-05,-1.8653842661773013e-07,1.9029845971191266e-07,1.9064161139139776e-08,4.787309658619851e-10,1.7861946123073263e-08,-1.9311243317704103e-08,1.887977550607844e-08,-2.2718935364598874e-10,1.4033079949513698e-08,-2.0180931160362817e-08,-2.063664735143891e-17,6.650704929996967e-18,1.1290435294887663e-14,4.208104300547685e-17,1.6501161886218627e-15,-6.510549784088266e-08],"joint_position_rad":[-1.9827968099483146,-1.53772661120365,1.2717702886880484,-1.304841268995329,-1.5707962846659769,-0.41200043148355203],"joint_velocity_rad_s":[4.101391455377672e-07,1.1515882647531301e-05,-4.1326356705629115e-05,3.55461127603595e-05,-1.8653842661773013e-07,1.9029845971191266e-07],"linkage_position_rad":[0.0029336074413305467,0.00015630151147874894,0.0031934759231726506,-0.0034292951200802202,0.0029336073565482475,0.00015630112973287615,0.003197846795069671,-0.003437992896238935],"tcp_position_m":[0.07433919757658045,0.5047372873574933,0.4349979348251825],"tcp_quaternion_wxyz":[-2.5028523859746484e-07,0.7071067994544525,0.7071067629183586,5.811003978819576e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,5.885104423081707e-18,9.716889741818059e-18,-1.9663859871676014e-07],"object_linear_velocity_m_s":[-2.063664735143891e-17,6.650704929996967e-18,1.1290435294887663e-14],"object_angular_velocity_rad_s":[4.2081690693298e-17,1.6501161728385276e-15,-6.510549784088271e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351324245326,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98279672050457,-1.5485669500542532,1.2616191356004942,-1.309660904536417,-1.570795072076212,-0.41200039380417575,0.0],"actuator_force":[1.4831830867478857e-05,-21.68528405426514,-20.285775632426066,-2.413372381819954,0.0006249487249760932,-1.9015783436771017e-07,-0.293360929613623],"issued_joint_targets_rad":[-1.9827967200387897,-1.537724292639864,1.2717621186757655,-1.3048341955404292,-1.5707963223415735,-0.41200039333182],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.339999999998046,"joint_targets_rad":[-1.9827967200387897,-1.537724292639864,1.2717621186757655,-1.3048341955404292,-1.5707963223415735,-0.41200039333182],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.359999999998035,"qpos":[-1.9827968020693152,-1.5377263920935964,1.271769503800259,-1.3048405935596503,-1.5707962882509376,-0.41200042782892543,0.0029336078045002047,0.00015630152144664513,0.0031934762610316162,-0.003429295489873764,0.002933607715588334,0.0001563011244989122,0.0031978470522148338,-0.0034379932832165425,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,4.00728150265747e-18,1.171493081987405e-17,-1.9688545901226827e-07],"qvel":[3.7652706089980683e-07,1.0449568831917085e-05,-3.739139915535851e-05,3.218722215225964e-05,-1.708821037745213e-07,1.7423395591176352e-07,1.7214852186973115e-08,4.3269118292568123e-10,1.6128086023212867e-08,-1.7437289880956662e-08,1.7048081014404153e-08,-2.0602913548833244e-10,1.2661905129266073e-08,-1.8225477576015464e-08,-1.3580290874155395e-17,4.2816089749190425e-18,1.1173861877302025e-14,-2.281025085033522e-16,-4.234489739179694e-16,-7.0455497265763836e-09],"joint_position_rad":[-1.9827968020693152,-1.5377263920935964,1.271769503800259,-1.3048405935596503,-1.5707962882509376,-0.41200042782892543],"joint_velocity_rad_s":[3.7652706089980683e-07,1.0449568831917085e-05,-3.739139915535851e-05,3.218722215225964e-05,-1.708821037745213e-07,1.7423395591176352e-07],"linkage_position_rad":[0.0029336078045002047,0.00015630152144664513,0.0031934762610316162,-0.003429295489873764,0.002933607715588334,0.0001563011244989122,0.0031978470522148338,-0.0034379932832165425],"tcp_position_m":[0.0743391971342858,0.5047372937411208,0.43499813476764715],"tcp_quaternion_wxyz":[-2.2861570208013542e-07,0.7071067979609362,0.7071067644119216,5.307033714301404e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,4.00728150265747e-18,1.171493081987405e-17,-1.9688545901226827e-07],"object_linear_velocity_m_s":[-1.3580290874155395e-17,4.2816089749190425e-18,1.1173861877302025e-14],"object_angular_velocity_rad_s":[-2.2810267541030215e-16,-4.2344888404133576e-16,-7.045549726576391e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513240396758,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967200387175,-1.5485669486778715,1.2616191292738592,-1.309660896461408,-1.5707950725505693,-0.4120003933303383,0.0],"actuator_force":[1.3450371170620201e-05,-21.685292996083263,-20.28579249313725,-2.4133701730941084,0.0006249383944805231,-1.7410204122825235e-07,-0.29336094731909296],"issued_joint_targets_rad":[-1.9827967196167853,-1.5377242885141866,1.271762111612918,-1.304834188560786,-1.5707963227605037,-0.41200039290238044],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.359999999998035,"joint_targets_rad":[-1.9827967196167853,-1.5377242885141866,1.271762111612918,-1.304834188560786,-1.5707963227605037,-0.41200039290238044],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.379999999998024,"qpos":[-1.9827967948371013,-1.5377261932743733,1.2717687936460522,-1.3048399819489649,-1.5707962915345726,-0.4120004244832258,0.0029336081324446636,0.00015630153045721086,0.0031934765660925164,-0.003429295823791441,0.002933608039797256,0.00015630111975362089,0.003197847284207207,-0.0034379936327109885,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,1.3635292135701184e-17,8.337118949707324e-19,-1.9729220588366288e-07],"qvel":[3.4560901615625906e-07,9.481807975152942e-06,-3.383117557588193e-05,2.9145692028729324e-05,-1.5651894343118088e-07,1.5950480396179707e-07,1.554497105267459e-08,3.9107364693718904e-10,1.4562500906740942e-08,-1.574531051583514e-08,1.5394130414913865e-08,-1.8686095274274496e-10,1.1424657197493346e-08,-1.6459773725908904e-08,1.049139465665005e-18,2.1676722187373887e-17,1.1165535204617337e-14,4.662499180988176e-16,-7.89241178903561e-16,-2.8320899115622297e-08],"joint_position_rad":[-1.9827967948371013,-1.5377261932743733,1.2717687936460522,-1.3048399819489649,-1.5707962915345726,-0.4120004244832258],"joint_velocity_rad_s":[3.4560901615625906e-07,9.481807975152942e-06,-3.383117557588193e-05,2.9145692028729324e-05,-1.5651894343118088e-07,1.5950480396179707e-07],"linkage_position_rad":[0.0029336081324446636,0.00015630153045721086,0.0031934765660925164,-0.003429295823791441,0.002933608039797256,0.00015630111975362089,0.003197847284207207,-0.0034379936327109885],"tcp_position_m":[0.07433919670364209,0.5047372995487914,0.43499831534220257],"tcp_quaternion_wxyz":[-2.0879767813008585e-07,0.7071067965868667,0.7071067657860302,4.846192572182261e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,1.3635292135701184e-17,8.337118949707324e-19,-1.9729220588366288e-07],"object_linear_velocity_m_s":[1.049139465665005e-18,2.1676722187373887e-17,1.1165535204617337e-14],"object_angular_velocity_rad_s":[4.662496066292926e-16,-7.892413621061227e-16,-2.832089911562233e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513238541767,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967196167262,-1.5485669474429866,1.2616191235455574,-1.3096608891478598,-1.5707950729804288,-0.4120003929010273,0.0],"actuator_force":[1.2197143405501265e-05,-21.685301060416805,-20.28580773075919,-2.4133681686503223,0.000624928966317384,-1.593811305156123e-07,-0.29336096330760336],"issued_joint_targets_rad":[-1.982796719234516,-1.5377242847792896,1.2717621052193102,-1.3048341822421954,-1.5707963231400297,-0.4120003925132959],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.379999999998024,"joint_targets_rad":[-1.982796719234516,-1.5377242847792896,1.2717621052193102,-1.3048341822421954,-1.5707963231400297,-0.4120003925132959],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.399999999998013,"qpos":[-1.9827967881997182,-1.5377260128703818,1.2717681511084726,-1.304839428132806,-1.5707962945418161,-0.41200042142073,0.002933608428581474,0.00015630153860239092,0.0031934768415396654,-0.003429296125314544,0.0029336083325549613,0.0001563011154513711,0.0031978474935071945,-0.003437993948355037,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,1.0128495046273307e-17,-2.1920641103735682e-18,-1.9745497829727118e-07],"qvel":[3.1717552105058273e-07,8.603510185102771e-06,-3.060999350459536e-05,2.6391540426913126e-05,-1.4334436025400692e-07,1.4600221236177848e-07,1.4037122706231755e-08,3.534736902024225e-10,1.314897763704458e-08,-1.4217552949931605e-08,1.3900689962246263e-08,-1.6947007984894103e-10,1.0308304983069878e-08,-1.4865363122607272e-08,-8.619167865285502e-18,-6.1129518474113925e-18,1.1096146265578265e-14,-2.0249389497632213e-15,7.945182007979338e-16,-1.1384112778195794e-07],"joint_position_rad":[-1.9827967881997182,-1.5377260128703818,1.2717681511084726,-1.304839428132806,-1.5707962945418161,-0.41200042142073],"joint_velocity_rad_s":[3.1717552105058273e-07,8.603510185102771e-06,-3.060999350459536e-05,2.6391540426913126e-05,-1.4334436025400692e-07,1.4600221236177848e-07],"linkage_position_rad":[0.002933608428581474,0.00015630153860239092,0.0031934768415396654,-0.003429296125314544,0.0029336083325549613,0.0001563011154513711,0.0031978474935071945,-0.003437993948355037],"tcp_position_m":[0.07433919628623512,0.5047373048320741,0.4349984784259682],"tcp_quaternion_wxyz":[-1.906756323596726e-07,0.7071067953229709,0.7071067670499592,4.424852353635224e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,1.0128495046273307e-17,-2.1920641103735682e-18,-1.9745497829727118e-07],"object_linear_velocity_m_s":[-8.619167865285502e-18,-6.1129518474113925e-18,1.1096146265578265e-14],"object_angular_velocity_rad_s":[-2.0249386355008233e-15,7.94519002772504e-16,-1.1384112778195808e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351323686857,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967192344678,-1.5485669463350566,1.2616191183589656,-1.3096608825239733,-1.570795073369964,-0.41200039251206033,0.0],"actuator_force":[1.1060292308684438e-05,-21.685308333424018,-20.28582150161219,-2.4133663496262443,0.0006249203621564448,-1.458864176129282e-07,-0.29336097774588504],"issued_joint_targets_rad":[-1.9827967188882405,-1.5377242813981356,1.2717620994314969,-1.304834176522042,-1.5707963234838576,-0.4120003921607737],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.399999999998013,"joint_targets_rad":[-1.9827967188882405,-1.5377242813981356,1.2717620994314969,-1.304834176522042,-1.5707963234838576,-0.4120003921607737],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.419999999998002,"qpos":[-1.982796782109261,-1.5377258491790418,1.2717675697484325,-1.3048389266504246,-1.5707962972955813,-0.4120004186178148,0.002933608695996659,0.0001563015459654061,0.003193477090248993,-0.0034292963975868624,0.002933608596913455,0.00015630111155091425,0.0031978476823351495,-0.0034379942334266155,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,1.102451967028701e-18,1.552298509443346e-18,-1.9788662931565231e-07],"qvel":[2.910326725935547e-07,7.806422028722635e-06,-2.769556062928383e-05,2.3897617498742465e-05,-1.312619875776104e-07,1.3362602266377785e-07,1.2675585394135843e-08,3.194963409784063e-10,1.1872760507760482e-08,-1.2837872795828132e-08,1.2552184382211183e-08,-1.5368495131652084e-10,9.301113149867657e-09,-1.3425216935351045e-08,-1.1275511766826708e-18,1.873946984221515e-18,1.1043410671908566e-14,-2.9784852500309e-16,1.6056611369638662e-16,-1.231959440165177e-08],"joint_position_rad":[-1.982796782109261,-1.5377258491790418,1.2717675697484325,-1.3048389266504246,-1.5707962972955813,-0.4120004186178148],"joint_velocity_rad_s":[2.910326725935547e-07,7.806422028722635e-06,-2.769556062928383e-05,2.3897617498742465e-05,-1.312619875776104e-07,1.3362602266377785e-07],"linkage_position_rad":[0.002933608695996659,0.0001563015459654061,0.003193477090248993,-0.0034292963975868624,0.002933608596913455,0.00015630111155091425,0.0031978476823351495,-0.0034379942334266155],"tcp_position_m":[0.07433919588326185,0.5047373096379619,0.43499862571403597],"tcp_quaternion_wxyz":[-1.7410680341346594e-07,0.7071067941606638,0.7071067682122937,4.0396831700510117e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,1.102451967028701e-18,1.552298509443346e-18,-1.9788662931565231e-07],"object_linear_velocity_m_s":[-1.1275511766826708e-18,1.873946984221515e-18,1.1043410671908566e-14],"object_angular_velocity_rad_s":[-2.9784846149354037e-16,1.6056623160401913e-16,-1.2319594401651787e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513235359311,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796718888201,-1.548566945341035,1.2616191136628292,-1.3096608765247224,-1.5707950737229577,-0.4120003921596456,0.0],"actuator_force":[1.0029050827142783e-05,-21.685314892798033,-20.28583394695488,-2.4133646988988176,0.0006249125106023712,-1.335176875727484e-07,-0.29336099078435457],"issued_joint_targets_rad":[-1.9827967185745707,-1.537724278337205,1.271762094192053,-1.3048341713436404,-1.570796323795344,-0.4120003918413794],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.419999999998002,"joint_targets_rad":[-1.9827967185745707,-1.537724278337205,1.271762094192053,-1.3048341713436404,-1.570796323795344,-0.4120003918413794],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.43999999999799,"qpos":[-1.982796776521577,-1.5377257006548666,1.271767043740133,-1.3048384725569775,-1.5707962998169205,-0.41200041605279064,0.0029336089374767437,0.0001563015526213705,0.003193477314816819,-0.0034292966434465665,0.0029336088356284964,0.00015630110801477867,0.0031978478526939465,-0.003437994490889298,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,-1.4665433963855693e-18,-4.4325295929400415e-18,-1.9822710174274476e-07],"qvel":[2.670010794787957e-07,7.08304973296444e-06,-2.505866083660705e-05,2.1639338060782852e-05,-1.2018304741777658e-07,1.222840332169973e-07,1.1446152625090144e-08,2.8877268614360743e-10,1.072038867634061e-08,-1.1592140202090228e-08,1.1334539338628745e-08,-1.3936569534979556e-10,8.392402436515934e-09,-1.2124525738239442e-08,9.257731425834595e-18,-3.4564286443987472e-18,1.099345063580043e-14,-2.5100963107934304e-16,-9.291440784701116e-16,-4.9520903795272547e-08],"joint_position_rad":[-1.982796776521577,-1.5377257006548666,1.271767043740133,-1.3048384725569775,-1.5707962998169205,-0.41200041605279064],"joint_velocity_rad_s":[2.670010794787957e-07,7.08304973296444e-06,-2.505866083660705e-05,2.1639338060782852e-05,-1.2018304741777658e-07,1.222840332169973e-07],"linkage_position_rad":[0.0029336089374767437,0.0001563015526213705,0.003193477314816819,-0.0034292966434465665,0.0029336088356284964,0.00015630110801477867,0.0031978478526939465,-0.003437994490889298],"tcp_position_m":[0.0743391954955924,0.504737314009275,0.43499875873713334],"tcp_quaternion_wxyz":[-1.5896018632690781e-07,0.7071067930920044,0.7071067692809757,3.687629714811499e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,-1.4665433963855693e-18,-4.4325295929400415e-18,-1.9822710174274476e-07],"object_linear_velocity_m_s":[9.257731425834595e-18,-3.4564286443987472e-18,1.099345063580043e-14],"object_angular_velocity_rad_s":[-2.510099990033935e-16,-9.291439791014658e-16,-4.9520903795272626e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351323399794,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967185745385,-1.5485669444492205,1.2616191094107485,-1.3096608710912103,-1.5707950740428362,-0.41200039184034953,0.0],"actuator_force":[9.093645076063694e-06,-21.685320808600864,-20.285845194434387,-2.413363200922504,0.0006249053468536658,-1.2218279721309955e-07,-0.29336100255872183],"issued_joint_targets_rad":[-1.9827967182904358,-1.5377242755661555,1.2717620894490052,-1.3048341666556802,-1.5707963240775304,-0.412000391551999],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.43999999999799,"joint_targets_rad":[-1.9827967182904358,-1.5377242755661555,1.2717620894490052,-1.3048341666556802,-1.5707963240775304,-0.412000391551999],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.45999999999798,"qpos":[-1.982796771395981,-1.5377255658950026,1.271766567812644,-1.3048380613747899,-1.5707963021251687,-0.4120004137057471,0.002933609155537838,0.00015630155863813414,0.0031934775175869023,-0.0034292968654563555,0.002933609051188365,0.000156301104808838,0.003197848006389756,-0.003437994723416969,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,-1.4579102349136305e-18,-6.914582762744514e-18,-1.9841486998582932e-07],"qvel":[2.449148520498826e-07,6.42658948140445e-06,-2.267286111881639e-05,1.959443931794454e-05,-1.1002579532649232e-07,1.1189140900564559e-07,1.0335997576916438e-08,2.6100188714338916e-10,9.6798331477532e-09,-1.0467575768784861e-08,1.0235045112061033e-08,-1.2639785229178072e-10,7.572348496686296e-09,-1.0950303080609635e-08,6.480583293777564e-18,-1.5911843339934224e-18,1.0994838414581212e-14,8.025764525880056e-17,1.6181630670781805e-16,-5.35902499428379e-09],"joint_position_rad":[-1.982796771395981,-1.5377255658950026,1.271766567812644,-1.3048380613747899,-1.5707963021251687,-0.4120004137057471],"joint_velocity_rad_s":[2.449148520498826e-07,6.42658948140445e-06,-2.267286111881639e-05,1.959443931794454e-05,-1.1002579532649232e-07,1.1189140900564559e-07],"linkage_position_rad":[0.002933609155537838,0.00015630155863813414,0.0031934775175869023,-0.0034292968654563555,0.002933609051188365,0.000156301104808838,0.003197848006389756,-0.003437994723416969],"tcp_position_m":[0.07433919512381659,0.5047373179850266,0.43499887887756816],"tcp_quaternion_wxyz":[-1.4511559458644606e-07,0.7071067921096479,0.7071067702633513,3.365889287149712e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,-1.4579102349136305e-18,-6.914582762744514e-18,-1.9841486998582932e-07],"object_linear_velocity_m_s":[6.480583293777564e-18,-1.5911843339934224e-18,1.0994838414581212e-14],"object_angular_velocity_rad_s":[8.025770954642813e-17,1.6181627484355909e-16,-5.359024994283798e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513232769961,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967182904094,-1.5485669436491125,1.2616191055607202,-1.3096608661700968,-1.570795074332706,-0.41200039155105894,0.0],"actuator_force":[8.245202479884028e-06,-21.68532614401238,-20.285855359399648,-2.4133618415852425,0.0006248988108836784,-1.1179685088791302e-07,-0.2933610131915236],"issued_joint_targets_rad":[-1.982796718033056,-1.5377242730575218,1.2717620851553026,-1.3048341624117055,-1.5707963243331733,-0.4120003912898148],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.45999999999798,"joint_targets_rad":[-1.982796718033056,-1.5377242730575218,1.2717620851553026,-1.3048341624117055,-1.5707963243331733,-0.4120003912898148],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.479999999997968,"qpos":[-1.9827967666949926,-1.5377254436260943,1.271766137197048,-1.3048376890492266,-1.5707963042380846,-0.4120004115584104,0.002933609352451994,0.00015630156407717694,0.0031934777006759063,-0.003429297065932043,0.002933609245839941,0.0001563011019024236,0.003197848145053443,-0.003437994933425857,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,-1.0237257344310034e-17,2.6218712514180664e-17,-1.9887397778230545e-07],"qvel":[2.246206254473065e-07,5.830864040741384e-06,-2.051424646517981e-05,1.774276157141471e-05,-1.0071497065067782e-07,1.0237008683008591e-07,9.333560062649743e-09,2.3591575513286243e-10,8.740488296137532e-09,-9.452058867543084e-09,9.242250532480216e-09,-1.1462779001626918e-10,6.832526761176032e-09,-9.889587436251206e-09,-3.563438702029046e-17,-9.832371877728829e-18,1.0876877218214793e-14,-1.7706973977618898e-16,7.474025282366077e-16,-2.154159889734632e-08],"joint_position_rad":[-1.9827967666949926,-1.5377254436260943,1.271766137197048,-1.3048376890492266,-1.5707963042380846,-0.4120004115584104],"joint_velocity_rad_s":[2.246206254473065e-07,5.830864040741384e-06,-2.051424646517981e-05,1.774276157141471e-05,-1.0071497065067782e-07,1.0237008683008591e-07],"linkage_position_rad":[0.002933609352451994,0.00015630156407717694,0.0031934777006759063,-0.003429297065932043,0.002933609245839941,0.0001563011019024236,0.003197848145053443,-0.003437994933425857],"tcp_position_m":[0.07433919476828803,0.504737321600758,0.4349989873836286],"tcp_quaternion_wxyz":[-1.3246279103530219e-07,0.7071067912068041,0.7071067711662111,3.0718915312361936e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,-1.0237257344310034e-17,2.6218712514180664e-17,-1.9887397778230545e-07],"object_linear_velocity_m_s":[-3.563438702029046e-17,-9.832371877728829e-18,1.0876877218214793e-14],"object_angular_velocity_rad_s":[-1.7706944362793377e-16,7.474025982246234e-16,-2.154159889734636e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513231662311,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967180330344,-1.5485669429312887,1.2616191020747114,-1.3096608617130656,-1.5707950745953816,-0.41200039128895677,0.0],"actuator_force":[7.475666279788129e-06,-21.68533095600469,-20.28586454608694,-2.413360608076573,0.0006248928485774741,-1.0228188784822123e-07,-0.29336102279364973],"issued_joint_targets_rad":[-1.982796717799912,-1.5377242707864454,1.2717620812683643,-1.3048341585696661,-1.5707963245647687,-0.4120003910522694],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.479999999997968,"joint_targets_rad":[-1.982796717799912,-1.5377242707864454,1.2717620812683643,-1.3048341585696661,-1.5707963245647687,-0.4120003910522694],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.499999999997957,"qpos":[-1.9827967623840947,-1.5377253326923572,1.271765747578618,-1.304837351908726,-1.5707963061719714,-0.41200040959401224,0.002933609530270779,0.00015630156899404247,0.0031934778659952366,-0.0034292972469617037,0.00293360942161201,0.00015630109926753773,0.0031978482701552386,-0.0034379951230972434,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,-8.243934321009541e-18,3.433437444233954e-17,-1.9909749146937424e-07],"qvel":[2.059766905159866e-07,5.290265189164131e-06,-1.8561179883086302e-05,1.606604951148751e-05,-9.218130999484843e-08,9.364828992908154e-08,8.42838543951021e-09,2.1323467516418572e-10,7.892202462104054e-09,-8.534997762126787e-09,8.345797178578997e-09,-1.039426932208924e-10,6.16507765036668e-09,-8.931524309965082e-09,-1.0793749753137725e-16,-1.003862265635894e-17,1.0828304960887444e-14,5.79520485499344e-16,5.861312953404177e-15,-8.65904681446856e-08],"joint_position_rad":[-1.9827967623840947,-1.5377253326923572,1.271765747578618,-1.304837351908726,-1.5707963061719714,-0.41200040959401224],"joint_velocity_rad_s":[2.059766905159866e-07,5.290265189164131e-06,-1.8561179883086302e-05,1.606604951148751e-05,-9.218130999484843e-08,9.364828992908154e-08],"linkage_position_rad":[0.002933609530270779,0.00015630156899404247,0.0031934778659952366,-0.0034292972469617037,0.00293360942161201,0.00015630109926753773,0.0031978482701552386,-0.0034379951230972434],"tcp_position_m":[0.07433919442916323,0.5047373248888438,0.43499908538258303],"tcp_quaternion_wxyz":[-1.2090068927716518e-07,0.7071067903771983,0.7071067719958303,2.803279703752549e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,-8.243934321009541e-18,3.433437444233954e-17,-1.9909749146937424e-07],"object_linear_velocity_m_s":[-1.0793749753137725e-16,-1.003862265635894e-17,1.0828304960887444e-14],"object_angular_velocity_rad_s":[5.795228134986512e-16,5.861312721213883e-15,-8.659046814468577e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513230663177,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967177998944,-1.5485669422872974,1.2616190989182965,-1.3096608576763598,-1.570795074833414,-0.41200039105148634,0.0],"actuator_force":[6.777724593121093e-06,-21.68533529595652,-20.285872848689905,-2.4133594887680374,0.0006248874096854706,-9.356605801258411e-08,-0.29336103146505255],"issued_joint_targets_rad":[-1.982796717588722,-1.5377242687304218,1.2717620777496421,-1.3048341550914935,-1.5707963247745789,-0.41200039083704704],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.499999999997957,"joint_targets_rad":[-1.982796717588722,-1.5377242687304218,1.2717620777496421,-1.3048341550914935,-1.5707963247745789,-0.41200039083704704],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.519999999997946,"qpos":[-1.9827967584315076,-1.537725232044744,1.2717653950535566,-1.3048370466286168,-1.5707963079417961,-0.41200040779716834,0.0029336096908466084,0.0001563015734388177,0.003193478015270042,-0.003429297410431741,0.0029336095803363924,0.00015630109687879166,0.0031978483830218977,-0.003437995294402333,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999811,-5.042154667783469e-18,4.441334296909433e-17,-1.9942581625396657e-07],"qvel":[1.8885214642843146e-07,4.799701455710395e-06,-1.6794085448278833e-05,1.4547772378589018e-05,-8.436108114923977e-08,8.566001309567197e-08,7.611024311168388e-09,1.9273029374142473e-10,7.1262438667510505e-09,-7.707045697949263e-09,7.536324787778196e-09,-9.425724580218934e-11,5.5627530472424915e-09,-8.066587231550776e-09,-5.048514223825935e-17,-6.134573281891732e-18,1.0824141624545097e-14,2.2793236817522525e-16,-1.1312302391263722e-15,-9.370598020030983e-09],"joint_position_rad":[-1.9827967584315076,-1.537725232044744,1.2717653950535566,-1.3048370466286168,-1.5707963079417961,-0.41200040779716834],"joint_velocity_rad_s":[1.8885214642843146e-07,4.799701455710395e-06,-1.6794085448278833e-05,1.4547772378589018e-05,-8.436108114923977e-08,8.566001309567197e-08],"linkage_position_rad":[0.0029336096908466084,0.0001563015734388177,0.003193478015270042,-0.003429297410431741,0.0029336095803363924,0.00015630109687879166,0.0031978483830218977,-0.003437995294402333],"tcp_position_m":[0.07433919410643393,0.5047373278787718,0.4349991738924174],"tcp_quaternion_wxyz":[-1.1033661223679273e-07,0.7071067896150339,0.7071067727580055,2.557893398998338e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999811,-5.042154667783469e-18,4.441334296909433e-17,-1.9942581625396657e-07],"object_linear_velocity_m_s":[-5.048514223825935e-17,-6.134573281891732e-18,1.0824141624545097e-14],"object_angular_velocity_rad_s":[2.279319161498208e-16,-1.1312303301319776e-15,-9.370598020031002e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322976194,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967175887076,-1.5485669417095522,1.2616190960603024,-1.3096608540203465,-1.5707950750491153,-0.4120003908363325,0.0],"actuator_force":[6.1447412917914335e-06,-21.685339210198435,-20.28588035232906,-2.4133584731027895,0.0006248824486192461,-8.558336617170426e-08,-0.2933610392958956],"issued_joint_targets_rad":[-1.9827967173974186,-1.5377242668690834,1.2717620745642493,-1.3048341519427265,-1.570796324964652,-0.41200039064205296],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.519999999997946,"joint_targets_rad":[-1.9827967173974186,-1.5377242668690834,1.2717620745642493,-1.3048341519427265,-1.570796324964652,-0.41200039064205296],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.539999999997935,"qpos":[-1.982796754807977,-1.5377251407311125,1.2717650760898502,-1.304836770198343,-1.570796309561296,-0.4120004061537671,0.0029336098358522,0.00015630157745686303,0.003193478150057677,-0.003429297558050104,0.0029336097236671793,0.00015630109471326896,0.003197848484850647,-0.003437995449118751,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,-6.415348486017292e-18,3.3530974142738244e-17,-1.998349475981026e-07],"qvel":[1.731261261010653e-07,4.354550592968523e-06,-1.5195251871744115e-05,1.3172961051528247e-05,-7.719565148063126e-08,7.8344562571301e-08,6.872957798235349e-09,1.7419667479114078e-10,6.434733089824492e-09,-6.959641477905545e-09,6.805393097219457e-09,-8.548445337673167e-11,5.019273916340651e-09,-7.285318565692707e-09,-4.610971859013437e-17,-1.0792930338489525e-17,1.1251577489025781e-14,-2.7195795685442253e-17,-1.1507492123829563e-15,-3.7666863690903826e-08],"joint_position_rad":[-1.982796754807977,-1.5377251407311125,1.2717650760898502,-1.304836770198343,-1.570796309561296,-0.4120004061537671],"joint_velocity_rad_s":[1.731261261010653e-07,4.354550592968523e-06,-1.5195251871744115e-05,1.3172961051528247e-05,-7.719565148063126e-08,7.8344562571301e-08],"linkage_position_rad":[0.0029336098358522,0.00015630157745686303,0.003193478150057677,-0.003429297558050104,0.0029336097236671793,0.00015630109471326896,0.003197848484850647,-0.003437995449118751],"tcp_position_m":[0.07433919379995443,0.5047373305973969,0.4349992538324392],"tcp_quaternion_wxyz":[-1.0068561149022102e-07,0.7071067889149573,0.7071067734580915,2.3337526295625105e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,-6.415348486017292e-18,3.3530974142738244e-17,-1.998349475981026e-07],"object_linear_velocity_m_s":[-4.610971859013437e-17,-1.0792930338489525e-17,1.1251577489025781e-14],"object_angular_velocity_rad_s":[-2.7196258131270553e-17,-1.1507492019968152e-15,-3.7666863690903826e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513228949011,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967173974068,-1.54856694119125,1.2616190934725133,-1.3096608507091307,-1.570795075244579,-0.412000390641401,0.0],"actuator_force":[5.570690063905204e-06,-21.68534274051217,-20.285887133924916,-2.4133575514990753,0.0006248779236557311,-7.827321724107605e-08,-0.2933610463677235],"issued_joint_targets_rad":[-1.9827967172241299,-1.5377242651839893,1.2717620716805988,-1.304834149092166,-1.5707963251368446,-0.41200039046538406],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.539999999997935,"joint_targets_rad":[-1.9827967172241299,-1.5377242651839893,1.2717620716805988,-1.304834149092166,-1.5707963251368446,-0.41200039046538406],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.559999999997924,"qpos":[-1.982796751486583,-1.5377250578872887,1.2717647874918574,-1.3048365198917915,-1.5707963110430783,-0.4120004046508665,0.0029336099667980104,0.0001563015810892379,0.0031934782717655524,-0.0034292976913484455,0.0029336098530979597,0.00015630109275013263,0.003197848576720937,-0.0034379955888566758,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,-4.749563602736127e-18,2.1714634736113908e-17,-1.9997776891749912e-07],"qvel":[1.5868705175612728e-07,3.950616475510703e-06,-1.3748654937843255e-05,1.192806055344603e-05,-7.063110078958513e-08,7.164618451789615e-08,6.206505114376613e-09,1.5745795768041987e-10,5.810350405440108e-09,-6.284211043162398e-09,6.145394086850434e-09,-7.750778418327918e-11,4.52900764722439e-09,-6.5796493516039635e-09,-2.6803574757274278e-17,-6.036842947860499e-18,1.1656808893013963e-14,2.195327070530252e-16,-1.092829785764395e-15,-4.076211226078387e-09],"joint_position_rad":[-1.982796751486583,-1.5377250578872887,1.2717647874918574,-1.3048365198917915,-1.5707963110430783,-0.4120004046508665],"joint_velocity_rad_s":[1.5868705175612728e-07,3.950616475510703e-06,-1.3748654937843255e-05,1.192806055344603e-05,-7.063110078958513e-08,7.164618451789615e-08],"linkage_position_rad":[0.0029336099667980104,0.0001563015810892379,0.0031934782717655524,-0.0034292976913484455,0.0029336098530979597,0.00015630109275013263,0.003197848576720937,-0.0034379955888566758],"tcp_position_m":[0.07433919350946976,0.5047373330691747,0.43499932603284386],"tcp_quaternion_wxyz":[-9.186983854088462e-08,0.7071067882720268,0.7071067741010295,2.1290431362268373e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,-4.749563602736127e-18,2.1714634736113908e-17,-1.9997776891749912e-07],"object_linear_velocity_m_s":[-2.6803574757274278e-17,-6.036842947860499e-18,1.1656808893013963e-14],"object_angular_velocity_rad_s":[2.1953226979265602e-16,-1.09282987360635e-15,-4.076211226078387e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513228215711,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967172241203,-1.548566940726282,1.2616190911293748,-1.3096608477101999,-1.570795075421704,-0.4120003904647892,0.0],"actuator_force":[5.050104391557397e-06,-21.685345924576723,-20.285893262990157,-2.4133567152595106,0.0006248737971645824,-7.157976256166876e-08,-0.2933610527542945],"issued_joint_targets_rad":[-1.9827967170671592,-1.537724263658447,1.2717620690701017,-1.3048341465115687,-1.5707963252928399,-0.41200039030531915],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.559999999997924,"joint_targets_rad":[-1.9827967170671592,-1.537724263658447,1.2717620690701017,-1.3048341465115687,-1.5707963252928399,-0.41200039030531915],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.579999999997913,"qpos":[-1.9827967484425577,-1.5377249827289596,1.271764526368267,-1.3048362932404223,-1.570796312398707,-0.4120004032765991,0.0029336100850477728,0.0001563015843728549,0.0031934783816624196,-0.0034292978117217835,0.002933609969977236,0.00015630109097042007,0.0031978486596073376,-0.0034379957150623298,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,-1.4842797880392626e-17,2.137563316573647e-17,-2.0042697159156132e-07],"qvel":[1.45431977494981e-07,3.5840898861799116e-06,-1.2439796718914172e-05,1.080079646925386e-05,-6.461786351731801e-08,6.551363221392161e-08,5.60469799754527e-09,1.423264381771904e-10,5.246583281153995e-09,-5.674858971807569e-09,5.549422944244716e-09,-7.028572022788236e-11,4.08661098370231e-09,-5.942366786386722e-09,-2.6079716970375904e-17,-2.0457696583595095e-17,1.1769218974257257e-14,4.393720453635194e-17,-5.330891160581453e-16,-1.6385090076402643e-08],"joint_position_rad":[-1.9827967484425577,-1.5377249827289596,1.271764526368267,-1.3048362932404223,-1.570796312398707,-0.4120004032765991],"joint_velocity_rad_s":[1.45431977494981e-07,3.5840898861799116e-06,-1.2439796718914172e-05,1.080079646925386e-05,-6.461786351731801e-08,6.551363221392161e-08],"linkage_position_rad":[0.0029336100850477728,0.0001563015843728549,0.0031934783816624196,-0.0034292978117217835,0.002933609969977236,0.00015630109097042007,0.0031978486596073376,-0.0034379957150623298],"tcp_position_m":[0.07433919323463412,0.5047373353163743,0.43499939124336157],"tcp_quaternion_wxyz":[-8.381796791818169e-08,0.7071067876816818,0.7071067746913814,1.942102864041081e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,-1.4842797880392626e-17,2.137563316573647e-17,-2.0042697159156132e-07],"object_linear_velocity_m_s":[-2.6079716970375904e-17,-2.0457696583595095e-17,1.1769218974257257e-14],"object_angular_velocity_rad_s":[4.3936990144990735e-17,-5.330891341569052e-16,-1.6385090076402646e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513227554272,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967170671514,-1.5485669403091677,1.2616190890077537,-1.3096608449941063,-1.5707950755822115,-0.4120003903047765,0.0],"actuator_force":[4.57802161690779e-06,-21.685348796370363,-20.285898802339034,-2.4133559564889993,0.0006248700341302538,-6.54518998999265e-08,-0.2933610585218551],"issued_joint_targets_rad":[-1.982796716924971,-1.537724262277349,1.271762066706882,-1.304834144175369,-1.5707963254341597,-0.41200039016029766],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.579999999997913,"joint_targets_rad":[-1.982796716924971,-1.537724262277349,1.271762066706882,-1.304834144175369,-1.5707963254341597,-0.41200039016029766],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.599999999997902,"qpos":[-1.9827967456531201,-1.5377249145443068,1.2717642901031152,-1.304836088008933,-1.5707963136387924,-0.4120004020200845,0.002933610191833042,0.0001563015873413076,0.003193478480896026,-0.00342929792042141,0.002933610075522754,0.00015630108935701646,0.0031978487343883263,-0.003437995829049782,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,-1.935484922094927e-17,1.4138166783114068e-17,-2.007475759696508e-07],"qvel":[1.33265932552506e-07,3.2515129101282854e-06,-1.1255560181078205e-05,9.780053969642526e-06,-5.911036080201447e-08,5.989983343337684e-08,5.061267995903159e-09,1.286444617389442e-10,4.737538605034977e-09,-5.124378610976574e-09,5.011272581521937e-09,-6.374075341003353e-11,3.6873748792257127e-09,-5.367133508941259e-09,-1.7905765918561427e-17,-4.46997785575927e-17,1.179836232865367e-14,-1.49065107791037e-15,-6.760343311976092e-16,-6.586292071770383e-08],"joint_position_rad":[-1.9827967456531201,-1.5377249145443068,1.2717642901031152,-1.304836088008933,-1.5707963136387924,-0.4120004020200845],"joint_velocity_rad_s":[1.33265932552506e-07,3.2515129101282854e-06,-1.1255560181078205e-05,9.780053969642526e-06,-5.911036080201447e-08,5.989983343337684e-08],"linkage_position_rad":[0.002933610191833042,0.0001563015873413076,0.003193478480896026,-0.00342929792042141,0.002933610075522754,0.00015630108935701646,0.0031978487343883263,-0.003437995829049782],"tcp_position_m":[0.0743391929750309,0.50473733735927,0.43499945014105595],"tcp_quaternion_wxyz":[-7.646466028870618e-08,0.7071067871397144,0.7071067752333539,1.7714094731329634e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,-1.935484922094927e-17,1.4138166783114068e-17,-2.007475759696508e-07],"object_linear_velocity_m_s":[-1.7905765918561427e-17,-4.46997785575927e-17,1.179836232865367e-14],"object_angular_velocity_rad_s":[-1.4906513511971191e-15,-6.760337352579073e-16,-6.586292071770384e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513226957609,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967169249645,-1.5485669399349933,1.2616190870867086,-1.3096608425341822,-1.5707950757276594,-0.41200039015980267,0.0],"actuator_force":[4.149937922193203e-06,-21.68535138653715,-20.28590380874084,-2.4133552680216326,0.0006248666024930571,-5.984244921819482e-08,-0.29336106373049275],"issued_joint_targets_rad":[-1.9827967167961722,-1.5377242610270148,1.271762064567511,-1.3048341420604195,-1.5707963255621848,-0.41200039002890626],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.599999999997902,"joint_targets_rad":[-1.9827967167961722,-1.5377242610270148,1.271762064567511,-1.3048341420604195,-1.5707963255621848,-0.41200039002890626],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.61999999999789,"qpos":[-1.9827967430973186,-1.5377248526873186,1.2717640763295543,-1.3048359021732217,-1.5707963147730666,-0.4120004008713491,0.002933610288265805,0.00015630159002482158,0.0031934785705008168,-0.0034292980185822814,0.002933610170834047,0.00015630108789450127,0.003197848801857004,-0.003437995932003465,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,-1.9581818767253733e-17,7.677798039502427e-18,-2.009973081829139e-07],"qvel":[1.221013461705165e-07,2.9497466471935087e-06,-1.0184077671114118e-05,8.855768290541083e-06,-5.4066706320911226e-08,5.476155428132816e-08,4.570560105179341e-09,1.1629784615367624e-10,4.27796473330602e-09,-4.627408455132537e-09,4.52533887151356e-09,-5.7800858048725346e-11,3.3272396630766134e-09,-4.847321107237387e-09,-1.0280115460523535e-17,-2.166707537266329e-17,1.1941303543074162e-14,7.561856679964898e-16,-5.574505946313551e-16,-7.127516084559337e-09],"joint_position_rad":[-1.9827967430973186,-1.5377248526873186,1.2717640763295543,-1.3048359021732217,-1.5707963147730666,-0.4120004008713491],"joint_velocity_rad_s":[1.221013461705165e-07,2.9497466471935087e-06,-1.0184077671114118e-05,8.855768290541083e-06,-5.4066706320911226e-08,5.476155428132816e-08],"linkage_position_rad":[0.002933610288265805,0.00015630159002482158,0.0031934785705008168,-0.0034292980185822814,0.002933610170834047,0.00015630108789450127,0.003197848801857004,-0.003437995932003465],"tcp_position_m":[0.07433919273018799,0.5047373392163204,0.4349995033373739],"tcp_quaternion_wxyz":[-6.975007158521969e-08,0.7071067866422438,0.7071067757308289,1.6155688675200107e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,-1.9581818767253733e-17,7.677798039502427e-18,-2.009973081829139e-07],"object_linear_velocity_m_s":[-1.0280115460523535e-17,-2.166707537266329e-17,1.1941303543074162e-14],"object_angular_velocity_rad_s":[7.561854437948438e-16,-5.574508988930172e-16,-7.12751608455934e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513226419419,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967167961669,-1.5485669395993436,1.2616190853472733,-1.3096608403062706,-1.5707950758594602,-0.4120003900284548,0.0],"actuator_force":[3.7617646739818156e-06,-21.685353722708896,-20.285908333493808,-2.4133546433535003,0.000624863473831283,-5.4708266361558344e-08,-0.2933610684344875],"issued_joint_targets_rad":[-1.9827967166795029,-1.5377242598950618,1.271762062630782,-1.3048341401457662,-1.5707963256781665,-0.41200038990986365],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.61999999999789,"joint_targets_rad":[-1.9827967166795029,-1.5377242598950618,1.271762062630782,-1.3048341401457662,-1.5707963256781665,-0.41200038990986365],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.63999999999788,"qpos":[-1.9827967407558917,-1.5377247965717198,1.2717638829061295,-1.30483573390044,-1.5707963158104536,-0.41200039982125203,0.002933610375350191,0.00015630159245078775,0.0031934786514119357,-0.003429298107221601,0.002933610256903937,0.0001563010865686349,0.0031978488627285528,-0.0034379960249878274,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,-3.2390059179860645e-17,9.359140099882702e-18,-2.0140878705691354e-07],"qvel":[1.1185747779434067e-07,2.675941820943356e-06,-9.214611868931722e-06,8.018825548013609e-06,-4.9448417783127505e-08,5.0059097394091356e-08,4.1274445878904875e-09,1.0510503395197909e-10,3.862847703219418e-09,-4.178579976956044e-09,4.086542512569579e-09,-5.240058543401382e-11,3.0023148303130444e-09,-4.377839230203528e-09,-1.1733074578388654e-17,-4.233916015810466e-17,1.1992651357963081e-14,-4.3426652699019054e-16,2.5950464125870726e-17,-2.8650378154835806e-08],"joint_position_rad":[-1.9827967407558917,-1.5377247965717198,1.2717638829061295,-1.30483573390044,-1.5707963158104536,-0.41200039982125203],"joint_velocity_rad_s":[1.1185747779434067e-07,2.675941820943356e-06,-9.214611868931722e-06,8.018825548013609e-06,-4.9448417783127505e-08,5.0059097394091356e-08],"linkage_position_rad":[0.002933610375350191,0.00015630159245078775,0.0031934786514119357,-0.003429298107221601,0.002933610256903937,0.0001563010865686349,0.0031978488627285528,-0.0034379960249878274],"tcp_position_m":[0.07433919249959216,0.5047373409043291,0.4349995513845073],"tcp_quaternion_wxyz":[-6.361940364353774e-08,0.7071067861856918,0.7071067761873847,1.4733046534600454e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,-3.2390059179860645e-17,9.359140099882702e-18,-2.0140878705691354e-07],"object_linear_velocity_m_s":[-1.1733074578388654e-17,-4.233916015810466e-17,1.1992651357963081e-14],"object_angular_velocity_rad_s":[-4.342665170731388e-16,2.595063720008278e-17,-2.8650378154835826e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513225933931,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967166794986,-1.5485669392982597,1.2616190837722774,-1.3096608382884927,-1.570795075978895,-0.41200038990945187,0.0],"actuator_force":[3.409795226616552e-06,-21.685355829808486,-20.2859124229567,-2.413354076581186,0.0006248606212011509,-5.0009674623652245e-08,-0.29336107268264194],"issued_joint_targets_rad":[-1.9827967165738203,-1.5377242588702806,1.2717620608774995,-1.3048341384124407,-1.5707963257832367,-0.41200038980201],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.63999999999788,"joint_targets_rad":[-1.9827967165738203,-1.5377242588702806,1.2717620608774995,-1.3048341384124407,-1.5707963257832367,-0.41200038980201],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.659999999997869,"qpos":[-1.9827967386111327,-1.5377247456654606,1.2717637078953097,-1.3048355815309178,-1.5707963167591348,-0.4120003988614165,0.0029336104539928196,0.0001563015946439437,0.0031934787244729847,-0.0034292981872681037,0.002933610334628848,0.00015630108536673917,0.0031978489176482413,-0.0034379961089738,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,-2.825003870583244e-17,5.2890179430659015e-18,-2.0157345312856682e-07],"qvel":[1.0245992174050471e-07,2.4275121272441256e-06,-8.337448103725324e-06,7.260972885090657e-06,-4.522014549428731e-08,4.57560112374936e-08,3.727309302006988e-09,9.501006261153063e-11,3.4880913421243217e-09,-3.77328484300268e-09,3.6903129748405423e-09,-4.752210175582889e-11,2.709050459593152e-09,-3.954177458382119e-09,2.833541184695852e-17,-1.0021290391059507e-16,1.2023182491140272e-14,-4.98079009773378e-15,-4.270428665239062e-15,-1.1516553013447284e-07],"joint_position_rad":[-1.9827967386111327,-1.5377247456654606,1.2717637078953097,-1.3048355815309178,-1.5707963167591348,-0.4120003988614165],"joint_velocity_rad_s":[1.0245992174050471e-07,2.4275121272441256e-06,-8.337448103725324e-06,7.260972885090657e-06,-4.522014549428731e-08,4.57560112374936e-08],"linkage_position_rad":[0.0029336104539928196,0.0001563015946439437,0.0031934787244729847,-0.0034292981872681037,0.002933610334628848,0.00015630108536673917,0.0031978489176482413,-0.0034379961089738],"tcp_position_m":[0.07433919228269845,0.5047373424385895,0.43499959478113814],"tcp_quaternion_wxyz":[-5.802248577718225e-08,0.7071067857667598,0.7071067766063198,1.3434483792391172e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,-2.825003870583244e-17,5.2890179430659015e-18,-2.0157345312856682e-07],"object_linear_velocity_m_s":[2.833541184695852e-17,-1.0021290391059507e-16,1.2023182491140272e-14],"object_angular_velocity_rad_s":[-4.98079182056171e-15,-4.27042666375546e-15,-1.1516553013447292e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513225496015,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967165738167,-1.5485669390281893,1.2616190823461761,-1.3096608364610338,-1.570795076087123,-0.4120003898016345,0.0],"actuator_force":[3.090663540206151e-06,-21.68535773030817,-20.285916119025387,-2.413353562346515,0.0006248580205010512,-4.571012368614902e-08,-0.29336107651919474],"issued_joint_targets_rad":[-1.9827967164780902,-1.5377242579425225,1.2717620592902845,-1.3048341368432692,-1.5707963258784223,-0.412000389704293],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.659999999997869,"joint_targets_rad":[-1.9827967164780902,-1.5377242579425225,1.2717620592902845,-1.3048341368432692,-1.5707963258784223,-0.412000389704293],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.679999999997857,"qpos":[-1.9827967366467705,-1.537724699485708,1.2717635495440647,-1.304835443561807,-1.5707963176266113,-0.4120003979841674,0.0029336105250124278,0.00015630159662657483,0.003193478790445996,-0.0034292982595538228,0.0029336104048182893,0.0001563010842772354,0.0031978489671986294,-0.003437996184827965,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,-3.709341724286865e-17,-9.700043167444745e-18,-2.0201012587885936e-07],"qvel":[9.384013030312774e-08,2.2021100174695445e-06,-7.5437969645613585e-06,6.57473717137271e-06,-4.134942115304517e-08,4.181884687238376e-08,3.365982472780906e-09,8.587369372711992e-11,3.1497487410954166e-09,-3.4074658879701138e-09,3.332519704779767e-09,-4.308693546010507e-11,2.444492432752447e-09,-3.571171755962321e-09,8.821975590106617e-18,-4.438920128934961e-17,1.1415335385158e-14,1.186623049251083e-15,4.37109516091826e-17,-1.2462917821979116e-08],"joint_position_rad":[-1.9827967366467705,-1.537724699485708,1.2717635495440647,-1.304835443561807,-1.5707963176266113,-0.4120003979841674],"joint_velocity_rad_s":[9.384013030312774e-08,2.2021100174695445e-06,-7.5437969645613585e-06,6.57473717137271e-06,-4.134942115304517e-08,4.181884687238376e-08],"linkage_position_rad":[0.0029336105250124278,0.00015630159662657483,0.003193478790445996,-0.0034292982595538228,0.0029336104048182893,0.0001563010842772354,0.0031978489671986294,-0.003437996184827965],"tcp_position_m":[0.07433919207894295,0.5047373438330227,0.43499963397762775],"tcp_quaternion_wxyz":[-5.291339252233581e-08,0.7071067853824085,0.7071067769906734,1.2249306253033934e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,-3.709341724286865e-17,-9.700043167444745e-18,-2.0201012587885936e-07],"object_linear_velocity_m_s":[8.821975590106617e-18,-4.438920128934961e-17,1.1415335385158e-14],"object_angular_velocity_rad_s":[1.1866230671528785e-15,4.3710471264851497e-17,-1.2462917821979128e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513225100976,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967164780873,-1.5485669387859433,1.2616190810548913,-1.3096608348059455,-1.5707950761851963,-0.4120003897039506,0.0],"actuator_force":[2.8013141673000064e-06,-21.68535944447831,-20.285919459561228,-2.4133530957864195,0.0006248556495620505,-4.177630330559623e-08,-0.2933610799840467],"issued_joint_targets_rad":[-1.9827967163913758,-1.5377242571026017,1.2717620578534081,-1.3048341354227075,-1.5707963259646531,-0.4120003896157618],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.679999999997857,"joint_targets_rad":[-1.9827967163913758,-1.5377242571026017,1.2717620578534081,-1.3048341354227075,-1.5707963259646531,-0.4120003896157618],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.699999999997846,"qpos":[-1.9827967348478526,-1.5377246575943029,1.2717634062662941,-1.3048353186322623,-1.5707963184197584,-0.41200039718247383,0.0029336105891482845,0.00015630159841898358,0.003193478850019197,-0.0034292983248309875,0.0029336104682031643,0.00015630108328958152,0.0031978490119043707,-0.003437996253340584,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,-1.3038745129424105e-17,-3.0083401406464273e-18,-2.0235455928641805e-07],"qvel":[8.593495122350847e-08,1.997604694772875e-06,-6.825706125486485e-06,5.953351312573282e-06,-3.780642965948089e-08,3.821689585005223e-08,3.039701135635202e-09,7.763511807187498e-11,2.8442972114695703e-09,-3.0768230145302756e-09,3.0094336547122423e-09,-3.908096626923748e-11,2.2056984046142954e-09,-3.2255848072444836e-09,2.8778470611531537e-18,-6.517159242657168e-18,1.1295986410010798e-14,2.689507013262179e-15,6.641380369673964e-16,-5.0097018972281295e-08],"joint_position_rad":[-1.9827967348478526,-1.5377246575943029,1.2717634062662941,-1.3048353186322623,-1.5707963184197584,-0.41200039718247383],"joint_velocity_rad_s":[8.593495122350847e-08,1.997604694772875e-06,-6.825706125486485e-06,5.953351312573282e-06,-3.780642965948089e-08,3.821689585005223e-08],"linkage_position_rad":[0.0029336105891482845,0.00015630159841898358,0.003193478850019197,-0.0034292983248309875,0.0029336104682031643,0.00015630108328958152,0.0031978490119043707,-0.003437996253340584],"tcp_position_m":[0.0743391918877489,0.5047373451002981,0.4349996693807008],"tcp_quaternion_wxyz":[-4.825009163468196e-08,0.7071067850298374,0.7071067773432465,1.1167727724596122e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,-1.3038745129424105e-17,-3.0083401406464273e-18,-2.0235455928641805e-07],"object_linear_velocity_m_s":[2.8778470611531537e-18,-6.517159242657168e-18,1.1295986410010798e-14],"object_angular_velocity_rad_s":[2.6895072823460983e-15,6.641369471929254e-16,-5.009701897228134e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513224744635,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967163913733,-1.5485669385686616,1.2616190798856801,-1.3096608333069748,-1.5707950762740674,-0.4120003896154496,0.0],"actuator_force":[2.5389781512785703e-06,-21.6853609905952,-20.285922478778048,-2.4133526724875765,0.0006248534883752654,-3.817746119239018e-08,-0.2933610831132464],"issued_joint_targets_rad":[-1.9827967163128275,-1.5377242563422007,1.2717620565526255,-1.3048341341366783,-1.5707963260427713,-0.41200038953555057],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.699999999997846,"joint_targets_rad":[-1.9827967163128275,-1.5377242563422007,1.2717620565526255,-1.3048341341366783,-1.5707963260427713,-0.41200038953555057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.719999999997835,"qpos":[-1.9827967332006435,-1.537724619593635,1.2717632766269293,-1.3048352055100247,-1.570796319144878,-0.4120003964498952,0.002933610647067916,0.0001563016000393474,0.0031934789038133146,-0.0034292983837795267,0.002933610525443456,0.0001563010823943143,0.00319784905223937,-0.0034379963152240465,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,-1.168608834170188e-18,1.2761418772295302e-19,-2.0254451198346668e-07],"qvel":[7.868623808148263e-08,1.8120621577423393e-06,-6.175980659947576e-06,5.390687589302169e-06,-3.456379183730004e-08,3.4922001347573905e-08,2.7450684900075555e-09,7.017982141887523e-11,2.568421411124907e-09,-2.7785130199761296e-09,2.7176918683839693e-09,-3.541927777839106e-11,1.990370498405115e-09,-2.913237711975787e-09,1.2404071560910746e-18,-4.53887611828733e-18,1.1218270798287035e-14,3.8438893539370965e-16,2.487564415741241e-16,-5.421370698755112e-09],"joint_position_rad":[-1.9827967332006435,-1.537724619593635,1.2717632766269293,-1.3048352055100247,-1.570796319144878,-0.4120003964498952],"joint_velocity_rad_s":[7.868623808148263e-08,1.8120621577423393e-06,-6.175980659947576e-06,5.390687589302169e-06,-3.456379183730004e-08,3.4922001347573905e-08],"linkage_position_rad":[0.002933610647067916,0.0001563016000393474,0.0031934789038133146,-0.0034292983837795267,0.002933610525443456,0.0001563010823943143,0.00319784905223937,-0.0034379963152240465],"tcp_position_m":[0.07433919170853502,0.504737346251945,0.4349997013576743],"tcp_quaternion_wxyz":[-4.3994119250791293e-08,0.7071067847064678,0.707106777666618,1.018079418234199e-07],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,-1.168608834170188e-18,1.2761418772295302e-19,-2.0254451198346668e-07],"object_linear_velocity_m_s":[1.2404071560910746e-18,-4.53887611828733e-18,1.1218270798287035e-14],"object_angular_velocity_rad_s":[3.843890361607989e-16,2.487562858496943e-16,-5.421370698755118e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513224423206,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967163128255,-1.5485669383737761,1.2616190788269985,-1.3096608319493954,-1.5707950763545993,-0.41200038953526597,0.0],"actuator_force":[2.3011407392914407e-06,-21.685362385145254,-20.285925207597757,-2.4133522884443437,0.0006248515185234282,-3.488551669761364e-08,-0.2933610859393704],"issued_joint_targets_rad":[-1.982796716241677,-1.5377242556537905,1.2717620553750486,-1.3048341329724442,-1.5707963261135405,-0.4120003894628798],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.719999999997835,"joint_targets_rad":[-1.982796716241677,-1.5377242556537905,1.2717620553750486,-1.3048341329724442,-1.5707963261135405,-0.4120003894628798],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.739999999997824,"qpos":[-1.9827967316925281,-1.537724585122897,1.2717631593275491,-1.3048351030792742,-1.5707963198077433,-0.41200039578053343,0.002933610699374127,0.0001563016015042363,0.0031934789523896125,-0.0034292984370131096,0.002933610577135126,0.00015630108158274159,0.0031978490886312282,-0.003437996371117054,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,4.900931373749106e-18,2.0695017337096312e-17,-2.0300896093790153e-07],"qvel":[7.204045892118098e-08,1.6437270545242434e-06,-5.588110832609925e-06,4.881197197900465e-06,-3.1596389012316715e-08,3.1908310335649024e-08,2.4790026770856857e-09,6.344335977258169e-11,2.3192970638643097e-09,-2.50911689934198e-09,2.4542393898903894e-09,-3.2127060323995e-11,1.7959712153871593e-09,-2.6312813634871804e-09,-2.5930063063425004e-17,7.315110255698195e-18,1.111835072607077e-14,1.2340816435294417e-16,4.1379208763770463e-16,-2.1792209066193174e-08],"joint_position_rad":[-1.9827967316925281,-1.537724585122897,1.2717631593275491,-1.3048351030792742,-1.5707963198077433,-0.41200039578053343],"joint_velocity_rad_s":[7.204045892118098e-08,1.6437270545242434e-06,-5.588110832609925e-06,4.881197197900465e-06,-3.1596389012316715e-08,3.1908310335649024e-08],"linkage_position_rad":[0.002933610699374127,0.0001563016015042363,0.0031934789523896125,-0.0034292984370131096,0.002933610577135126,0.00015630108158274159,0.0031978490886312282,-0.003437996371117054],"tcp_position_m":[0.07433919154072004,0.5047373472984532,0.4349997302402801],"tcp_quaternion_wxyz":[-4.011028467451227e-08,0.7071067844099244,0.7071067779631626,9.280314639218973e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,4.900931373749106e-18,2.0695017337096312e-17,-2.0300896093790153e-07],"object_linear_velocity_m_s":[-2.5930063063425004e-17,7.315110255698195e-18,1.111835072607077e-14],"object_angular_velocity_rad_s":[1.2340833145795741e-16,4.13792037745349e-16,-2.1792209066193204e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513224133244,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967162416755,-1.548566938198984,1.2616190778684004,-1.309660830719877,-1.570795076427575,-0.41200038946262035,0.0],"actuator_force":[2.085521373373922e-06,-21.685363642995526,-20.28592767396458,-2.41335194002113,0.0006248497229535133,-3.187449237884721e-08,-0.29336108849167297],"issued_joint_targets_rad":[-1.9827967161772266,-1.5377242550305548,1.2717620543090062,-1.3048341319184686,-1.5707963261776507,-0.4120003893970382],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.739999999997824,"joint_targets_rad":[-1.9827967161772266,-1.5377242550305548,1.2717620543090062,-1.3048341319184686,-1.5707963261776507,-0.4120003893970382],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.759999999997813,"qpos":[-1.9827967303119207,-1.537724553854685,1.2717630531933661,-1.3048350103296287,-1.5707963204136455,-0.41200039516898684,0.0029336107466112135,0.00015630160282855793,0.003193478996254162,-0.0034292984850872346,0.002933610623816291,0.0001563010808470938,0.0031978491214658842,-0.0034379964215995548,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,4.688839336281664e-18,1.7908737261071002e-17,-2.0323507493347677e-07],"qvel":[6.594835045941067e-08,1.4910062202293754e-06,-5.056206880738057e-06,4.419855634747038e-06,-2.8881149588319055e-08,2.9152134102939674e-08,2.238731865421423e-09,5.73385787130513e-11,2.0943694265563547e-09,-2.265947253398176e-09,2.2163337804595446e-09,-2.913909444051653e-11,1.620600414387909e-09,-2.3765259345146564e-09,-1.6796228992893426e-17,-6.0190294327061314e-18,1.1085044035332014e-14,1.0958133938860127e-16,-6.030579147753409e-16,-8.759784238582959e-08],"joint_position_rad":[-1.9827967303119207,-1.537724553854685,1.2717630531933661,-1.3048350103296287,-1.5707963204136455,-0.41200039516898684],"joint_velocity_rad_s":[6.594835045941067e-08,1.4910062202293754e-06,-5.056206880738057e-06,4.419855634747038e-06,-2.8881149588319055e-08,2.9152134102939674e-08],"linkage_position_rad":[0.0029336107466112135,0.00015630160282855793,0.003193478996254162,-0.0034292984850872346,0.002933610623816291,0.0001563010808470938,0.0031978491214658842,-0.0034379964215995548],"tcp_position_m":[0.0743391913837287,0.504737348249369,0.43499975632811255],"tcp_quaternion_wxyz":[-3.656639531438176e-08,0.707106784138021,0.7071067782350675,8.458797270571942e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,4.688839336281664e-18,1.7908737261071002e-17,-2.0323507493347677e-07],"object_linear_velocity_m_s":[-1.6796228992893426e-17,-6.0190294327061314e-18,1.1085044035332014e-14],"object_angular_velocity_rad_s":[1.0958109112601806e-16,-6.030579584953702e-16,-8.759784238582971e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513223871689,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967161772253,-1.5485669380422176,1.2616190770004239,-1.30966082960634,-1.5707950764937024,-0.41200038939680167,0.0],"actuator_force":[1.8900504983321298e-06,-21.685364777552877,-20.285929903132455,-2.413351623919084,0.0006248480864314843,-2.9120798217263655e-08,-0.29336109079670347],"issued_joint_targets_rad":[-1.9827967161188467,-1.5377242544663243,1.2717620533439353,-1.3048341309643106,-1.5707963262357298,-0.4120003893373868],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.759999999997813,"joint_targets_rad":[-1.9827967161188467,-1.5377242544663243,1.2717620533439353,-1.3048341309643106,-1.5707963262357298,-0.4120003893373868],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.779999999997802,"qpos":[-1.9827967290481845,-1.5377245254919127,1.2717629571614524,-1.3048349263461791,-1.5707963209674307,-0.4120003946103105,0.0029336107892706745,0.0001563016040258091,0.003193479035864617,-0.0034292985285004195,0.0029336106659728547,0.00015630108018022652,0.003197849151090553,-0.0034379964671987315,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,3.622192290880183e-18,1.2583073369874388e-17,-2.035672193755651e-07],"qvel":[6.036456603289544e-08,1.3524537172537115e-06,-4.574939936311338e-06,4.002113104385982e-06,-2.6396923946199435e-08,2.6631723757509146e-08,2.0217650942159547e-09,5.182626997479618e-11,1.8912380917118996e-09,-2.046322389142476e-09,2.001506343368082e-09,-2.641367723283833e-11,1.4623433552791204e-09,-2.1466158337784167e-09,-1.39816048005849e-17,2.6492127732689635e-18,1.1055900680935608e-14,-2.013706860789489e-16,-4.507300738319857e-16,-9.479613472559958e-09],"joint_position_rad":[-1.9827967290481845,-1.5377245254919127,1.2717629571614524,-1.3048349263461791,-1.5707963209674307,-0.4120003946103105],"joint_velocity_rad_s":[6.036456603289544e-08,1.3524537172537115e-06,-4.574939936311338e-06,4.002113104385982e-06,-2.6396923946199435e-08,2.6631723757509146e-08],"linkage_position_rad":[0.0029336107892706745,0.0001563016040258091,0.003193479035864617,-0.0034292985285004195,0.0029336106659728547,0.00015630108018022652,0.003197849151090553,-0.0034379964671987315],"tcp_position_m":[0.07433919123699413,0.5047373491133759,0.4349997798917451],"tcp_quaternion_wxyz":[-3.333300625872106e-08,0.7071067838887451,0.7071067784843442,7.709390667769926e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,3.622192290880183e-18,1.2583073369874388e-17,-2.035672193755651e-07],"object_linear_velocity_m_s":[-1.39816048005849e-17,2.6492127732689635e-18,1.1055900680935608e-14],"object_angular_velocity_rad_s":[-2.0137086982523346e-16,-4.507299917783338e-16,-9.479613472559973e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513223635744,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967161188456,-1.5485669379016236,1.2616190762145036,-1.3096608285978466,-1.570795076553625,-0.41200038933717126,0.0],"actuator_force":[1.7128513718489558e-06,-21.685365800908585,-20.28593191792288,-2.4133513371441495,0.0006248465953149207,-2.660274844856758e-08,-0.2933610928785337],"issued_joint_targets_rad":[-1.9827967160659643,-1.5377242539555116,1.2717620524702702,-1.3048341301005166,-1.5707963262883446,-0.412000389283342],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.779999999997802,"joint_targets_rad":[-1.9827967160659643,-1.5377242539555116,1.2717620524702702,-1.3048341301005166,-1.5707963262883446,-0.412000389283342],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.799999999997791,"qpos":[-1.9827967278915557,-1.5377244997650064,1.2717628702700876,-1.3048348503004727,-1.5707963214735388,-0.4120003940999766,0.0029336108277963745,0.0001563016051082767,0.0031934790716333776,-0.0034292985677083936,0.002933610704043624,0.00015630107957577522,0.003197849177819751,-0.0034379965083855845,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,1.0661768868684825e-17,1.1233973194114212e-17,-2.0392475294032346e-07],"qvel":[5.52474074460449e-08,1.226757271234037e-06,-4.139488624245936e-06,3.623849702793483e-06,-2.4124289802514653e-08,2.4327159024896397e-08,1.8258486867196354e-09,4.686419168314175e-11,1.7078404381161006e-09,-1.8477475500742864e-09,1.8075230779974229e-09,-2.393950972072016e-11,1.3196441444290663e-09,-1.9387272406763815e-09,-1.193118498225891e-17,2.2538498507021687e-17,1.0957368387500122e-14,6.972319076798425e-16,-5.034503685035484e-17,-3.8105071602689044e-08],"joint_position_rad":[-1.9827967278915557,-1.5377244997650064,1.2717628702700876,-1.3048348503004727,-1.5707963214735388,-0.4120003940999766],"joint_velocity_rad_s":[5.52474074460449e-08,1.226757271234037e-06,-4.139488624245936e-06,3.623849702793483e-06,-2.4124289802514653e-08,2.4327159024896397e-08],"linkage_position_rad":[0.0029336108277963745,0.0001563016051082767,0.0031934790716333776,-0.0034292985677083936,0.002933610704043624,0.00015630107957577522,0.003197849177819751,-0.0034379965083855845],"tcp_position_m":[0.07433919109996324,0.5047373498983745,0.43499980117554027],"tcp_quaternion_wxyz":[-3.038318995719669e-08,0.707106783660246,0.7071067787128447,7.025830076307996e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,1.0661768868684825e-17,1.1233973194114212e-17,-2.0392475294032346e-07],"object_linear_velocity_m_s":[-1.193118498225891e-17,2.2538498507021687e-17,1.0957368387500122e-14],"object_angular_velocity_rad_s":[6.972318862904446e-16,-5.034532040350466e-17,-3.8105071602689104e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322342292,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967160659634,-1.5485669377755367,1.2616190755028809,-1.30966082768449,-1.5707950766079244,-0.41200038928314553,0.0],"actuator_force":[1.552221419842681e-06,-21.685366723968855,-20.285933738964104,-2.4133510769789837,0.0006248452361887757,-2.4300362611029414e-08,-0.29336109475885874],"issued_joint_targets_rad":[-1.982796716018063,-1.5377242534930595,1.2717620516793546,-1.3048341293185295,-1.5707963263360092,-0.41200038923437776],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.799999999997791,"joint_targets_rad":[-1.982796716018063,-1.5377242534930595,1.2717620516793546,-1.3048341293185295,-1.5707963263360092,-0.41200038923437776],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.81999999999778,"qpos":[-1.9827967268330722,-1.5377244764293636,1.2717627916491183,-1.3048347814423404,-1.5707963219360337,-0.41200039363384106,0.0029336108625890407,0.0001563016060867727,0.0031934791039332777,-0.0034292986031125585,0.0029336107384247603,0.00015630107902788666,0.0031978492019366224,-0.00343799654558479,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,1.0601369163259754e-17,8.14951722441755e-18,-2.0406923581117386e-07],"qvel":[5.0558509471138196e-08,1.1127259206595144e-06,-3.745490688003345e-06,3.2813347906368362e-06,-2.20454526549862e-08,2.2220166152451676e-08,1.6489050181312693e-09,4.2344702017090145e-11,1.5422166851278942e-09,-1.6687671217166006e-09,1.6323308922669885e-09,-2.1710981639630885e-11,1.1907773225515707e-09,-1.7509267553784279e-09,-8.78762303716951e-18,1.1961316700616372e-17,1.0869938324310892e-14,-3.990452648921327e-16,-3.574581067669723e-16,-4.123632960577668e-09],"joint_position_rad":[-1.9827967268330722,-1.5377244764293636,1.2717627916491183,-1.3048347814423404,-1.5707963219360337,-0.41200039363384106],"joint_velocity_rad_s":[5.0558509471138196e-08,1.1127259206595144e-06,-3.745490688003345e-06,3.2813347906368362e-06,-2.20454526549862e-08,2.2220166152451676e-08],"linkage_position_rad":[0.0029336108625890407,0.0001563016060867727,0.0031934791039332777,-0.0034292986031125585,0.0029336107384247603,0.00015630107902788666,0.0031978492019366224,-0.00343799654558479],"tcp_position_m":[0.0743391909720966,0.504737350611551,0.43499982040019425],"tcp_quaternion_wxyz":[-2.769232501840551e-08,0.7071067834508197,0.7071067789222713,6.40238813532212e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,1.0601369163259754e-17,8.14951722441755e-18,-2.0406923581117386e-07],"object_linear_velocity_m_s":[-8.78762303716951e-18,1.1961316700616372e-17,1.0869938324310892e-14],"object_angular_velocity_rad_s":[-3.9904541085171673e-16,-3.574579438137863e-16,-4.123632960577675e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513223230904,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967160180624,-1.5485669376624638,1.2616190748585339,-1.309660826857298,-1.5707950766571286,-0.4120003892341987,0.0],"actuator_force":[1.406615865562344e-06,-21.685367556568508,-20.28593538489349,-2.4133508409578326,0.0006248439977980524,-2.2195422388904262e-08,-0.2933610964568696],"issued_joint_targets_rad":[-1.9827967159746729,-1.537724253074389,1.2717620509633485,-1.3048341286106,-1.570796326379189,-0.41200038919001514],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.81999999999778,"joint_targets_rad":[-1.9827967159746729,-1.537724253074389,1.2717620509633485,-1.3048341286106,-1.570796326379189,-0.41200038919001514],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.839999999997769,"qpos":[-1.9827967258645094,-1.5377244552630447,1.271762720511242,-1.3048347190925025,-1.5707963223586399,-0.41200039320811066,0.002933610894010567,0.00015630160697148598,0.003193479133101261,-0.003429298635087096,0.002933610769473997,0.00015630107853119275,0.0031978492236957794,-0.0034379965791872386,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,2.5618650099721778e-17,1.1603556928304609e-17,-2.0452366440920412e-07],"qvel":[4.6262605094584144e-08,1.0092788473018455e-06,-3.3889993103886428e-06,2.9711902361159387e-06,-2.0144070721506368e-08,2.0294004794287856e-08,1.4891345120868026e-09,3.8277483373478086e-11,1.392672117800322e-09,-1.5069634091432816e-09,1.474143109679397e-09,-1.9667198363875326e-11,1.0745745375496459e-09,-1.5816213342062284e-09,-1.4511123169365028e-17,2.871834342872423e-17,1.085189720016073e-14,-1.2784861190519045e-16,-3.2976496219641107e-16,-1.6575710568873616e-08],"joint_position_rad":[-1.9827967258645094,-1.5377244552630447,1.271762720511242,-1.3048347190925025,-1.5707963223586399,-0.41200039320811066],"joint_velocity_rad_s":[4.6262605094584144e-08,1.0092788473018455e-06,-3.3889993103886428e-06,2.9711902361159387e-06,-2.0144070721506368e-08,2.0294004794287856e-08],"linkage_position_rad":[0.002933610894010567,0.00015630160697148598,0.003193479133101261,-0.003429298635087096,0.002933610769473997,0.00015630107853119275,0.0031978492236957794,-0.0034379965791872386],"tcp_position_m":[0.07433919085287172,0.504737351259443,0.43499983776502577],"tcp_quaternion_wxyz":[-2.5237900348916375e-08,0.7071067832588996,0.7071067791141917,5.8338293745692906e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,2.5618650099721778e-17,1.1603556928304609e-17,-2.0452366440920412e-07],"object_linear_velocity_m_s":[-1.4511123169365028e-17,2.871834342872423e-17,1.085189720016073e-14],"object_angular_velocity_rad_s":[-1.2784874717933115e-16,-3.2976490905095617e-16,-1.6575710568873646e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322305771,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967159746722,-1.5485669375610644,1.2616190742751003,-1.3096608261081417,-1.5707950767017154,-0.412000389189852,0.0],"actuator_force":[1.274632268177811e-06,-21.6853683075783,-20.285936872559432,-2.4133506268432257,0.0006248428693425012,-2.027115897362819e-08,-0.2933610979906163],"issued_joint_targets_rad":[-1.9827967159353697,-1.5377242526953545,1.2717620503151568,-1.304834127969716,-1.5707963264183065,-0.41200038914982356],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.839999999997769,"joint_targets_rad":[-1.9827967159353697,-1.5377242526953545,1.2717620503151568,-1.304834127969716,-1.5707963264183065,-0.41200038914982356],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.859999999997758,"qpos":[-1.9827967249783225,-1.537724436064675,1.271762656144114,-1.3048346626358707,-1.5707963227447654,-0.41200039281931455,0.0029336109223877995,0.0001563016077713103,0.0031934791594407045,-0.003429298663963002,0.002933610797514457,0.0001563010780810382,0.003197849243328715,-0.003437996609537874,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,2.157729725933711e-17,1.3228425754368313e-17,-2.0479147790245154e-07],"qvel":[4.232726235946915e-08,9.154351884343738e-07,-3.066443495297914e-06,2.690357084803468e-06,-1.8405174849625405e-08,1.853332028971463e-08,1.3448433405977857e-09,3.4608114419921735e-11,1.2577307379740247e-09,-1.3607882845863195e-09,1.3312830938721593e-09,-1.7845904790588587e-11,9.695969764430248e-10,-1.4285356294079321e-09,-3.281725436052669e-17,2.937639823295389e-17,1.084357052747604e-14,9.241761998591718e-17,8.818546013508048e-16,-6.662915528365603e-08],"joint_position_rad":[-1.9827967249783225,-1.537724436064675,1.271762656144114,-1.3048346626358707,-1.5707963227447654,-0.41200039281931455],"joint_velocity_rad_s":[4.232726235946915e-08,9.154351884343738e-07,-3.066443495297914e-06,2.690357084803468e-06,-1.8405174849625405e-08,1.853332028971463e-08],"linkage_position_rad":[0.0029336109223877995,0.0001563016077713103,0.0031934791594407045,-0.003429298663963002,0.002933610797514457,0.0001563010780810382,0.003197849243328715,-0.003437996609537874],"tcp_position_m":[0.07433919074178567,0.5047373518479964,0.4349998534500511],"tcp_quaternion_wxyz":[-2.2999339174996665e-08,0.7071067830830458,0.7071067792900463,5.315368796910991e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,2.157729725933711e-17,1.3228425754368313e-17,-2.0479147790245154e-07],"object_linear_velocity_m_s":[-3.281725436052669e-17,2.937639823295389e-17,1.084357052747604e-14],"object_angular_velocity_rad_s":[9.241797941572674e-17,8.8185456637340505e-16,-6.662915528365617e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513222901475,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967159353692,-1.5485669374701359,1.2616190737468225,-1.3096608254296624,-1.5707950767421182,-0.4120003891496749,0.0],"actuator_force":[1.155001427832758e-06,-21.68536898499724,-20.28593821718505,-2.413350432604375,0.000624841841045054,-1.8512224642108777e-08,-0.293361099375745],"issued_joint_targets_rad":[-1.9827967158997677,-1.5377242523522057,1.2717620497283593,-1.3048341273895279,-1.5707963264537432,-0.4120003891134098],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.859999999997758,"joint_targets_rad":[-1.9827967158997677,-1.5377242523522057,1.2717620497283593,-1.3048341273895279,-1.5707963264537432,-0.4120003891134098],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.879999999997747,"qpos":[-1.9827967241675892,-1.537724418651544,1.2717625979032132,-1.3048346115154807,-1.5707963230975308,-0.4120003924642765,0.0029336109479623086,0.0001563016084901488,0.0031934791832450606,-0.003429298689969621,0.0029336108228792805,0.0001563010777735934,0.0031978492606416268,-0.0034379966369232646,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999998,1.514249868072295e-17,1.2028226083866106e-17,-2.0504411544472145e-07],"qvel":[3.872268634555863e-08,8.30304805390863e-07,-2.7745922939973046e-06,2.4360654205905346e-06,-1.681505030892578e-08,1.6924056239600453e-08,1.221084366716871e-09,3.164637521388125e-11,1.1327520302328933e-09,-1.2370147303842684e-09,1.196603258456124e-09,-3.179869425935788e-11,9.257460472921738e-10,-1.2864219866395702e-09,-1.4737494242403235e-17,1.823554987452979e-17,1.081997828820275e-14,-7.605187994741128e-16,-2.947745606606616e-16,-7.210436020903705e-09],"joint_position_rad":[-1.9827967241675892,-1.537724418651544,1.2717625979032132,-1.3048346115154807,-1.5707963230975308,-0.4120003924642765],"joint_velocity_rad_s":[3.872268634555863e-08,8.30304805390863e-07,-2.7745922939973046e-06,2.4360654205905346e-06,-1.681505030892578e-08,1.6924056239600453e-08],"linkage_position_rad":[0.0029336109479623086,0.0001563016084901488,0.0031934791832450606,-0.003429298689969621,0.0029336108228792805,0.0001563010777735934,0.0031978492606416268,-0.0034379966369232646],"tcp_position_m":[0.07433919063835365,0.5047373523826179,0.4349998676178527],"tcp_quaternion_wxyz":[-2.0957833330120266e-08,0.7071067829219334,0.7071067794511591,4.842633430773888e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999998,1.514249868072295e-17,1.2028226083866106e-17,-2.0504411544472145e-07],"object_linear_velocity_m_s":[-1.4737494242403235e-17,1.823554987452979e-17,1.081997828820275e-14],"object_angular_velocity_rad_s":[-7.60518920531086e-16,-2.9477424856246033e-16,-7.210436020903719e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513222763214,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967158997672,-1.548566937388602,1.2616190732684889,-1.3096608248151935,-1.5707950767787293,-0.41200038911327436,0.0],"actuator_force":[1.046569650497986e-06,-21.685369596038072,-20.285939432530995,-2.4133502563985303,0.0006248409058571269,-1.6904550648177974e-08,-0.29336110063051757],"issued_joint_targets_rad":[-1.982796715867519,-1.5377242520415424,1.2717620491971382,-1.3048341268642876,-1.570796326485846,-0.4120003890804199],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.879999999997747,"joint_targets_rad":[-1.982796715867519,-1.5377242520415424,1.2717620491971382,-1.3048341268642876,-1.570796326485846,-0.4120003890804199],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.899999999997736,"qpos":[-1.9827967234259607,-1.5377244028578783,1.2717625452053796,-1.3048345652270026,-1.5707963234197933,-0.4120003921400906,0.002933610971113794,0.0001563016091451433,0.003193479204724754,-0.003429298713529649,0.0029336108457434134,0.00015630107739274422,0.0031978492766479823,-0.0034379966616871153,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,-8.78236923956991e-18,1.9287859326659083e-17,-2.0546038137239326e-07],"qvel":[3.5421478273469785e-08,7.530799724222566e-07,-2.51052243748378e-06,2.2058070670920797e-06,-1.5361082552796092e-08,1.54533236269191e-08,1.1029459405981024e-09,2.8573490740931847e-11,1.022816841110667e-09,-1.117357267981524e-09,1.0806692268318472e-09,-2.8438296991686415e-11,8.379571443520892e-10,-1.1632493635128724e-09,-2.841401635733824e-17,-1.1160737813004067e-17,1.1430600951746584e-14,-1.4414298694740375e-15,9.617444847766764e-17,-2.8983690280028792e-08],"joint_position_rad":[-1.9827967234259607,-1.5377244028578783,1.2717625452053796,-1.3048345652270026,-1.5707963234197933,-0.4120003921400906],"joint_velocity_rad_s":[3.5421478273469785e-08,7.530799724222566e-07,-2.51052243748378e-06,2.2058070670920797e-06,-1.5361082552796092e-08,1.54533236269191e-08],"linkage_position_rad":[0.002933610971113794,0.0001563016091451433,0.003193479204724754,-0.003429298713529649,0.0029336108457434134,0.00015630107739274422,0.0031978492766479823,-0.0034379966616871153],"tcp_position_m":[0.07433919054211131,0.5047373528682251,0.43499988041526894],"tcp_quaternion_wxyz":[-1.9096195286777464e-08,0.7071067827743455,0.7071067795987477,4.411627766762392e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,-8.78236923956991e-18,1.9287859326659083e-17,-2.0546038137239326e-07],"object_linear_velocity_m_s":[-2.841401635733824e-17,-1.1160737813004067e-17,1.1430600951746584e-14],"object_angular_velocity_rad_s":[-1.4414298310719049e-15,9.617504028203023e-17,-2.8983690280028792e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513222635925,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967158675188,-1.5485669373154916,1.2616190728353756,-1.3096608242586976,-1.5707950768119048,-0.4120003890802965,0.0],"actuator_force":[9.482923815085087e-07,-21.685370147215508,-20.285940531033248,-2.413350096554268,0.0006248400524100362,-1.543531880088267e-08,-0.2933611017609362],"issued_joint_targets_rad":[-1.9827967158383077,-1.5377242517602925,1.2717620487162333,-1.304834126388792,-1.5707963265149278,-0.41200038905053016],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.899999999997736,"joint_targets_rad":[-1.9827967158383077,-1.5377242517602925,1.2717620487162333,-1.304834126388792,-1.5707963265149278,-0.41200038905053016],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.919999999997724,"qpos":[-1.9827967227476135,-1.5377243885332734,1.2717624975229738,-1.3048345233137653,-1.570796323714166,-0.41200039184409826,0.0029336109915953363,0.0001563016095421793,0.0031934792242916616,-0.003429298734458536,0.0029336108667473715,0.0001563010785955249,0.003197849288265693,-0.0034379966835865272,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,-1.0917878710766649e-17,1.478596762542241e-17,-2.0557027873259677e-07],"qvel":[3.239851015883172e-08,6.830275865025029e-07,-2.2715890036052898e-06,1.997310807933531e-06,-1.4031804672752641e-08,1.4109329591217177e-08,1.0412564778548093e-09,5.183414085313641e-11,8.999198572036038e-10,-1.047231635210522e-09,9.338123154042653e-10,-2.563806943670724e-10,1.0885104942748168e-09,-1.016226479086469e-09,-1.7258011000065603e-17,-1.1325258853916172e-17,1.1679013353506464e-14,4.0788631488176916e-16,-5.564119913819511e-16,-3.136540505791088e-09],"joint_position_rad":[-1.9827967227476135,-1.5377243885332734,1.2717624975229738,-1.3048345233137653,-1.570796323714166,-0.41200039184409826],"joint_velocity_rad_s":[3.239851015883172e-08,6.830275865025029e-07,-2.2715890036052898e-06,1.997310807933531e-06,-1.4031804672752641e-08,1.4109329591217177e-08],"linkage_position_rad":[0.0029336109915953363,0.0001563016095421793,0.0031934792242916616,-0.003429298734458536,0.0029336108667473715,0.0001563010785955249,0.003197849288265693,-0.0034379966835865272],"tcp_position_m":[0.07433919045261386,0.5047373533092898,0.43499989197491995],"tcp_quaternion_wxyz":[-1.739872001532332e-08,0.7071067826391625,0.7071067797339302,4.018701382516926e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,-1.0917878710766649e-17,1.478596762542241e-17,-2.0557027873259677e-07],"object_linear_velocity_m_s":[-1.7258011000065603e-17,-1.1325258853916172e-17,1.1679013353506464e-14],"object_angular_velocity_rad_s":[4.078860860254448e-16,-5.564121591489997e-16,-3.136540505791088e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513222539264,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967158383075,-1.5485669372499402,1.2616190724432113,-1.309660823754707,-1.5707950768419665,-0.41200038905041775,0.0],"actuator_force":[8.592078302172013e-07,-21.68537064436805,-20.28594152392361,-2.413349951551595,0.0006248392802490343,-1.4092705669099814e-08,-0.2933611027924794],"issued_joint_targets_rad":[-1.9827967158118482,-1.5377242515056684,1.2717620482808742,-1.3048341259583278,-1.5707963265412734,-0.4120003890234507],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.919999999997724,"joint_targets_rad":[-1.9827967158118482,-1.5377242515056684,1.2717620482808742,-1.3048341259583278,-1.5707963265412734,-0.4120003890234507],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.939999999997713,"qpos":[-1.9827967221272127,-1.5377243755412717,1.2717624543785908,-1.3048344853622553,-1.5707963239830511,-0.412000391573868,0.0029336110085417437,0.00015630160740358524,0.0031934792443222434,-0.0034292987528321533,0.002933610887775997,0.00015630109263329217,0.0031978492856124877,-0.0034379967042923606,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,5.78820046501033e-19,1.7843957339726282e-17,-2.060120316365119e-07],"qvel":[2.963074690217239e-08,6.194828577936156e-07,-2.055399065012669e-06,1.8085207764547103e-06,-1.2814623364617258e-08,1.2881259891262658e-08,5.75916867522321e-10,-1.9332320737544553e-10,8.670782989645038e-10,-7.738034660308232e-10,1.0473725047362993e-09,1.0957264317211123e-09,-5.148199426146399e-10,-7.309767221841974e-10,-2.1516990993671394e-17,-1.400457759118651e-19,1.1778933425722726e-14,5.297932612385468e-16,-5.363364057637511e-16,-1.2607908635074534e-08],"joint_position_rad":[-1.9827967221272127,-1.5377243755412717,1.2717624543785908,-1.3048344853622553,-1.5707963239830511,-0.412000391573868],"joint_velocity_rad_s":[2.963074690217239e-08,6.194828577936156e-07,-2.055399065012669e-06,1.8085207764547103e-06,-1.2814623364617258e-08,1.2881259891262658e-08],"linkage_position_rad":[0.0029336110085417437,0.00015630160740358524,0.0031934792443222434,-0.0034292987528321533,0.002933610887775997,0.00015630109263329217,0.0031978492856124877,-0.0034379967042923606],"tcp_position_m":[0.07433919036944281,0.5047373537098774,0.43499990241658315],"tcp_quaternion_wxyz":[-1.58510538627619e-08,0.7071067825153589,0.7071067798577343,3.6605197949626864e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,5.78820046501033e-19,1.7843957339726282e-17,-2.060120316365119e-07],"object_linear_velocity_m_s":[-2.1516990993671394e-17,-1.400457759118651e-19,1.1778933425722726e-14],"object_angular_velocity_rad_s":[5.297930398050468e-16,-5.363366240366824e-16,-1.2607908635074538e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513222538869,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715811848,-1.5485669371911657,1.2616190720881204,-1.3096608232982665,-1.570795076869207,-0.4120003890233483,0.0],"actuator_force":[7.784301487845369e-07,-21.685371092930836,-20.285942421314758,-2.4133498200832264,0.0006248383843967531,-1.2866138376921299e-08,-0.2933611029323339],"issued_joint_targets_rad":[-1.9827967157878805,-1.5377242512751503,1.2717620478867504,-1.3048341255686327,-1.5707963265651403,-0.41200038899891717],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.939999999997713,"joint_targets_rad":[-1.9827967157878805,-1.5377242512751503,1.2717620478867504,-1.3048341255686327,-1.5707963265651403,-0.41200038899891717],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.959999999997702,"qpos":[-1.9827967215598574,-1.5377243637580749,1.271762415340272,-1.3048344509980367,-1.5707963242286285,-0.41200039132717575,0.002933611021766144,0.00015630160188494352,0.0031934792653326087,-0.0034292987696127398,0.0029336109086161555,0.00015630111136341862,0.00319784927829427,-0.003437996718569744,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,2.183575211850826e-17,2.7197518909520944e-17,-2.0636047210570208e-07],"qvel":[2.7095737285495144e-08,5.618417897781271e-07,-1.8597867340023744e-06,1.6375726841386758e-06,-1.1706870130718778e-08,1.1759210551135973e-08,2.302767257170678e-10,-1.1243941429430885e-09,1.7613387228945849e-09,-6.785189007563064e-10,1.415081150954184e-09,3.764206239724974e-09,-3.0448684557059646e-09,-8.170687898642423e-10,-5.330390729473519e-17,5.655297951533241e-17,1.1851097922323367e-14,2.7847200782523867e-15,1.822754343613048e-15,-5.067983654505217e-08],"joint_position_rad":[-1.9827967215598574,-1.5377243637580749,1.271762415340272,-1.3048344509980367,-1.5707963242286285,-0.41200039132717575],"joint_velocity_rad_s":[2.7095737285495144e-08,5.618417897781271e-07,-1.8597867340023744e-06,1.6375726841386758e-06,-1.1706870130718778e-08,1.1759210551135973e-08],"linkage_position_rad":[0.002933611021766144,0.00015630160188494352,0.0031934792653326087,-0.0034292987696127398,0.0029336109086161555,0.00015630111136341862,0.00319784927829427,-0.003437996718569744],"tcp_position_m":[0.0743391902921895,0.5047373540736858,0.43499991184844333],"tcp_quaternion_wxyz":[-1.44400939275769e-08,0.7071067824019875,0.7071067799711063,3.334037299021908e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,2.183575211850826e-17,2.7197518909520944e-17,-2.0636047210570208e-07],"object_linear_velocity_m_s":[-5.330390729473519e-17,5.655297951533241e-17,1.1851097922323367e-14],"object_angular_velocity_rad_s":[2.784720827784313e-15,1.8227531965138585e-15,-5.067983654505219e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513222539506,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967157878803,-1.54856693713847,1.2616190717666016,-1.309660822884893,-1.570795076893891,-0.41200038899882385,0.0],"actuator_force":[7.056592039589304e-07,-21.685371497506367,-20.28594323264724,-2.4133497006964717,0.0006248380557281052,-1.1745100891857874e-08,-0.2933611047459043],"issued_joint_targets_rad":[-1.9827967157661706,-1.537724251066457,1.2717620475299558,-1.3048341252158444,-1.5707963265867613,-0.4120003889766899],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.959999999997702,"joint_targets_rad":[-1.9827967157661706,-1.537724251066457,1.2717620475299558,-1.3048341252158444,-1.5707963265867613,-0.4120003889766899],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.979999999997691,"qpos":[-1.982796721041063,-1.5377243530713651,1.2717623800171842,-1.30483441988206,-1.5707963244529033,-0.41200039110198766,0.0029336110338499953,0.00015630159488644237,0.0031934792880567255,-0.003429298785804668,0.0029336109270425284,0.00015630112050058948,0.0031978492767478057,-0.0034379967310055417,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,2.4245634575471838e-17,2.556180950618513e-17,-2.0655263467016612e-07],"qvel":[2.477237197685982e-08,5.095567949279019e-07,-1.6827927642117208e-06,1.482775840597826e-06,-1.0710859803733657e-08,1.0734106591311518e-08,-3.616360741514305e-10,-5.486487299232007e-09,6.3811781157892565e-09,-4.555480047264874e-10,2.7605801715965365e-09,1.1973908123941417e-08,-1.021149373762477e-08,-1.775838589991667e-09,-2.986948025734274e-17,2.812250381004949e-17,1.1953793552101195e-14,-7.141904295824746e-16,-1.0489338439000238e-15,-5.484441719278165e-09],"joint_position_rad":[-1.982796721041063,-1.5377243530713651,1.2717623800171842,-1.30483441988206,-1.5707963244529033,-0.41200039110198766],"joint_velocity_rad_s":[2.477237197685982e-08,5.095567949279019e-07,-1.6827927642117208e-06,1.482775840597826e-06,-1.0710859803733657e-08,1.0734106591311518e-08],"linkage_position_rad":[0.0029336110338499953,0.00015630159488644237,0.0031934792880567255,-0.003429298785804668,0.0029336109270425284,0.00015630112050058948,0.0031978492767478057,-0.0034379967310055417],"tcp_position_m":[0.07433919022047308,0.5047373544040759,0.43499992036820756],"tcp_quaternion_wxyz":[-1.3153865756777542e-08,0.7071067822981821,0.7071067800749117,3.0364723117702205e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,2.4245634575471838e-17,2.556180950618513e-17,-2.0655263467016612e-07],"object_linear_velocity_m_s":[-2.986948025734274e-17,2.812250381004949e-17,1.1953793552101195e-14],"object_angular_velocity_rad_s":[-7.141908631828966e-16,-1.0489335485981573e-15,-5.484441719278168e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513222472257,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967157661703,-1.5485669370912272,1.2616190714754805,-1.309660822510523,-1.5707950769162584,-0.4120003889766049,0.0],"actuator_force":[6.408367880794685e-07,-21.685371862442025,-20.285943966301602,-2.4133495918155177,0.0006248394083741005,-1.0719276133386302e-08,-0.2933611100393467],"issued_joint_targets_rad":[-1.9827967157465047,-1.5377242508775206,1.2717620472069535,-1.3048341248964679,-1.5707963266063478,-0.4120003889565516],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.979999999997691,"joint_targets_rad":[-1.9827967157465047,-1.5377242508775206,1.2717620472069535,-1.3048341248964679,-1.5707963266063478,-0.4120003889565516],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.99999999999768,"qpos":[-1.982796720566714,-1.5377243433792438,1.271762348055702,-1.3048343917073058,-1.5707963246576837,-0.41200039089644347,0.0029336110453925326,0.00015630159066574577,0.0031934793067876924,-0.00342929880156016,0.0029336109422805927,0.00015630111863001225,0.0031978492860244706,-0.00343799674445582,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,2.5781685527998297e-17,3.410794145474638e-17,-2.069656383714888e-07],"qvel":[2.26550263607578e-08,4.6213031506610145e-07,-1.5226480292805222e-06,1.3426233136012513e-06,-9.758535665231892e-09,9.797705002855297e-09,1.2670727948952378e-09,1.933555218802455e-09,-1.12308604888654e-09,-9.787459339921602e-10,-5.6716708427853774e-11,-4.115971805870553e-09,4.3931361607839565e-09,-4.6357537270986583e-10,-4.430392096415206e-17,3.0317529892870606e-17,1.2016243597236361e-14,-6.094616988183185e-16,-3.2432564170353397e-16,-2.2045734777981384e-08],"joint_position_rad":[-1.982796720566714,-1.5377243433792438,1.271762348055702,-1.3048343917073058,-1.5707963246576837,-0.41200039089644347],"joint_velocity_rad_s":[2.26550263607578e-08,4.6213031506610145e-07,-1.5226480292805222e-06,1.3426233136012513e-06,-9.758535665231892e-09,9.797705002855297e-09],"linkage_position_rad":[0.0029336110453925326,0.00015630159066574577,0.0031934793067876924,-0.00342929880156016,0.0029336109422805927,0.00015630111863001225,0.0031978492860244706,-0.00343799674445582],"tcp_position_m":[0.07433919015392355,0.504737354704104,0.43499992806412247],"tcp_quaternion_wxyz":[-1.1981442726912595e-08,0.7071067822031454,0.7071067801699487,2.7652837032328343e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,2.5781685527998297e-17,3.410794145474638e-17,-2.069656383714888e-07],"object_linear_velocity_m_s":[-4.430392096415206e-17,3.0317529892870606e-17,1.2016243597236361e-14],"object_angular_velocity_rad_s":[-6.094618345706627e-16,-3.2432538829149455e-16,-2.2045734777981398e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513222352905,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967157465045,-1.548566937048873,1.2616190712118822,-1.3096608221714774,-1.5707950769365262,-0.41200038895647423,0.0],"actuator_force":[5.784086170024239e-07,-21.685372191384886,-20.285944628427842,-2.4133494944171616,0.0006248364323937494,-9.785878773982404e-09,-0.2933611054354367],"issued_joint_targets_rad":[-1.9827967157286919,-1.5377242507064728,1.2717620469145454,-1.3048341246073394,-1.5707963266240912,-0.4120003889383073],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.99999999999768,"joint_targets_rad":[-1.9827967157286919,-1.5377242507064728,1.2717620469145454,-1.3048341246073394,-1.5707963266240912,-0.4120003889383073],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.019999999997669,"qpos":[-1.9827967201330523,-1.5377243345892697,1.2717623191358647,-1.3048343661957988,-1.5707963248446986,-0.4120003907088432,0.002933611057088221,0.00015630157982074713,0.0031934793316461185,-0.0034292988153435803,0.0029336109558296994,0.00015630111861911642,0.003197849295725481,-0.0034379967616065413,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,2.4152039821218328e-17,2.5971316563758458e-17,-2.071943829269811e-07],"qvel":[2.071226525856538e-08,4.191128084494013e-07,-1.3777443846598624e-06,1.2157116213772047e-06,-8.908137526702047e-09,8.942349234087015e-09,9.47137607646488e-10,2.107586920968433e-09,-1.3791828856126543e-09,-9.801037526178892e-10,1.8253624196333182e-10,-2.991188085406967e-09,3.3131104561737085e-09,-3.4821756170257355e-10,-4.3287955111818835e-17,6.219331687971777e-17,1.2046774730413557e-14,2.835715884811553e-15,-1.8738292545243413e-16,-8.861693619475355e-08],"joint_position_rad":[-1.9827967201330523,-1.5377243345892697,1.2717623191358647,-1.3048343661957988,-1.5707963248446986,-0.4120003907088432],"joint_velocity_rad_s":[2.071226525856538e-08,4.191128084494013e-07,-1.3777443846598624e-06,1.2157116213772047e-06,-8.908137526702047e-09,8.942349234087015e-09],"linkage_position_rad":[0.002933611057088221,0.00015630157982074713,0.0031934793316461185,-0.0034292988153435803,0.0029336109558296994,0.00015630111861911642,0.003197849295725481,-0.0034379967616065413],"tcp_position_m":[0.07433919009221705,0.5047373549765458,0.43499993501589507],"tcp_quaternion_wxyz":[-1.091281739937474e-08,0.7071067821161495,0.7071067802569445,2.5181540650377793e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,2.4152039821218328e-17,2.5971316563758458e-17,-2.071943829269811e-07],"object_linear_velocity_m_s":[-4.3287955111818835e-17,6.219331687971777e-17,1.2046774730413557e-14],"object_angular_velocity_rad_s":[2.8357158025589364e-15,-1.8738409626066348e-16,-8.86169361947536e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513222187693,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967157286919,-1.548566937010905,1.2616190709732071,-1.3096608218644241,-1.570795076954892,-0.4120003889382368,0.0],"actuator_force":[5.238148332864512e-07,-21.68537248839357,-20.285945227561115,-2.4133494054748326,0.0006248357170761665,-8.931721140470472e-09,-0.29336110629426526],"issued_joint_targets_rad":[-1.9827967157125568,-1.5377242505516184,1.2717620466498323,-1.3048341243455936,-1.5707963266401652,-0.41200038892177826],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.019999999997669,"joint_targets_rad":[-1.9827967157125568,-1.5377242505516184,1.2717620466498323,-1.3048341243455936,-1.5707963266401652,-0.41200038892177826],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.039999999997658,"qpos":[-1.9827967197366183,-1.5377243266175817,1.2717622929681673,-1.304834343095811,-1.570796325015462,-0.41200039053763193,0.0029336110675467733,0.00015630157224022384,0.0031934793509342135,-0.00342929882829006,0.0029336109680364094,0.0001563011194734468,0.003197849304240355,-0.0034379967749443964,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,2.6799115229709693e-17,1.8553716580178157e-17,-2.0753039146361072e-07],"qvel":[1.893273523727408e-08,3.800943238024455e-07,-1.2466330227179974e-06,1.1007937302978837e-06,-8.134477364501579e-09,8.161104257637787e-09,2.8069685722077783e-10,-3.300956147582279e-10,9.459072493595774e-10,-6.616150422932222e-10,7.890041596826798e-10,1.0159592101524804e-10,3.251280979826863e-10,-5.326288666702446e-10,-2.29746891516062e-17,3.157420560363285e-17,1.1398682039788623e-14,-9.659616364287838e-16,-1.0384544474730804e-15,-9.589897186607491e-09],"joint_position_rad":[-1.9827967197366183,-1.5377243266175817,1.2717622929681673,-1.304834343095811,-1.570796325015462,-0.41200039053763193],"joint_velocity_rad_s":[1.893273523727408e-08,3.800943238024455e-07,-1.2466330227179974e-06,1.1007937302978837e-06,-8.134477364501579e-09,8.161104257637787e-09],"linkage_position_rad":[0.0029336110675467733,0.00015630157224022384,0.0031934793509342135,-0.00342929882829006,0.0029336109680364094,0.0001563011194734468,0.003197849304240355,-0.0034379967749443964],"tcp_position_m":[0.07433919003502175,0.5047373552239273,0.4349999412955168],"tcp_quaternion_wxyz":[-9.938879596663403e-09,0.7071067820365212,0.7071067803365728,2.2929655622377327e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,2.6799115229709693e-17,1.8553716580178157e-17,-2.0753039146361072e-07],"object_linear_velocity_m_s":[-2.29746891516062e-17,3.157420560363285e-17,1.1398682039788623e-14],"object_angular_velocity_rad_s":[-9.659620678062737e-16,-1.0384540460261972e-15,-9.5898971866075e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513222059691,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967157125568,-1.548566936976869,1.2616190707570978,-1.3096608215863446,-1.5707950769715344,-0.4120003889217141,0.0],"actuator_force":[4.750290827360004e-07,-21.685372756304332,-20.285945768930105,-2.413349324639853,0.0006248354114859467,-8.151516794896452e-09,-0.2933611071276642],"issued_joint_targets_rad":[-1.9827967156979414,-1.5377242504114246,1.2717620464101898,-1.304834124108637,-1.5707963266547267,-0.41200038890680246],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.039999999997658,"joint_targets_rad":[-1.9827967156979414,-1.5377242504114246,1.2717620464101898,-1.304834124108637,-1.5707963266547267,-0.41200038890680246],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.059999999997647,"qpos":[-1.9827967193742433,-1.5377243193881038,1.2717622692906665,-1.3048343221794052,-1.5707963251713615,-0.4120003903813885,0.002933611078314827,0.00015630157362190236,0.003193479360707834,-0.0034292988406974603,0.0029336109775571933,0.00015630111313876644,0.0031978493174578946,-0.003437996785359609,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,2.0468889675080947e-17,4.8220089253318914e-18,-2.0789208449431472e-07],"qvel":[1.7300368596624016e-08,3.447035619092492e-07,-1.128000935005711e-06,9.967273476620074e-07,-7.45401693431749e-09,7.447583525570617e-09,-1.163240322078501e-09,-9.307868401649827e-09,9.435127683833967e-09,2.825244902623247e-10,1.9705161663443895e-09,8.30063780272356e-09,-7.338798443410895e-09,-1.2041427330457784e-09,-2.742622226371082e-18,3.089348514887926e-17,1.1273781949518294e-14,-5.952418404079253e-16,-1.5861791937755502e-15,-3.8548377527820766e-08],"joint_position_rad":[-1.9827967193742433,-1.5377243193881038,1.2717622692906665,-1.3048343221794052,-1.5707963251713615,-0.4120003903813885],"joint_velocity_rad_s":[1.7300368596624016e-08,3.447035619092492e-07,-1.128000935005711e-06,9.967273476620074e-07,-7.45401693431749e-09,7.447583525570617e-09],"linkage_position_rad":[0.002933611078314827,0.00015630157362190236,0.003193479360707834,-0.0034292988406974603,0.0029336109775571933,0.00015630111313876644,0.0031978493174578946,-0.003437996785359609],"tcp_position_m":[0.07433918998202577,0.5047373554485437,0.434999946968009],"tcp_quaternion_wxyz":[-9.051310042467705e-09,0.7071067819636427,0.7071067804094515,2.0877849521081813e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,2.0468889675080947e-17,4.8220089253318914e-18,-2.0789208449431472e-07],"object_linear_velocity_m_s":[-2.742622226371082e-18,3.089348514887926e-17,1.1273781949518294e-14],"object_angular_velocity_rad_s":[-5.952425002878335e-16,-1.5861789447051958e-15,-3.8548377527820805e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221957669,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967156979414,-1.548566936946359,1.2616190705614196,-1.309660821334505,-1.5707950769866152,-0.412000388906744,0.0],"actuator_force":[4.324565452407114e-07,-21.685372997935247,-20.285946258119566,-2.4133492502845684,0.0006248377749216161,-7.4361139468237525e-09,-0.2933611068299803],"issued_joint_targets_rad":[-1.9827967156847022,-1.5377242502845034,1.2717620461932453,-1.304834123894123,-1.5707963266679181,-0.4120003888932346],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.059999999997647,"joint_targets_rad":[-1.9827967156847022,-1.5377242502845034,1.2717620461932453,-1.304834123894123,-1.5707963266679181,-0.4120003888932346],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.079999999997636,"qpos":[-1.9827967190430318,-1.5377243128318199,1.2717622478663528,-1.3048343032401843,-1.570796325313664,-0.4120003902388137,0.00293361108783046,0.00015630157594703526,0.00319347936843925,-0.0034292988516700013,0.002933610986669215,0.00015630110760494424,0.0031978493293998724,-0.003437996795450271,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,1.3019209292943261e-17,-1.5883378915220743e-18,-2.0803824824673906e-07],"qvel":[1.581827291051924e-08,3.1260367958854643e-07,-1.0206581730729401e-06,9.025180501224087e-07,-6.780133110720029e-09,6.796037795827506e-09,1.217919341752975e-09,3.508123017457182e-09,-2.978363627156193e-09,-7.420192833205155e-10,-3.040865284794361e-10,-3.11550374937236e-09,3.283506859312665e-09,-2.583235364342066e-10,-3.0233423245994053e-19,1.6551345171607686e-17,1.1104472938262962e-14,-6.834260029862744e-16,-5.708555437832558e-17,-4.171606388985073e-09],"joint_position_rad":[-1.9827967190430318,-1.5377243128318199,1.2717622478663528,-1.3048343032401843,-1.570796325313664,-0.4120003902388137],"joint_velocity_rad_s":[1.581827291051924e-08,3.1260367958854643e-07,-1.0206581730729401e-06,9.025180501224087e-07,-6.780133110720029e-09,6.796037795827506e-09],"linkage_position_rad":[0.00293361108783046,0.00015630157594703526,0.00319347936843925,-0.0034292988516700013,0.002933610986669215,0.00015630110760494424,0.0031978493293998724,-0.003437996795450271],"tcp_position_m":[0.07433918993293928,0.5047373556524816,0.4349999520921005],"tcp_quaternion_wxyz":[-8.242514594299919e-09,0.7071067818969498,0.7071067804761447,1.9008474945960575e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,1.3019209292943261e-17,-1.5883378915220743e-18,-2.0803824824673906e-07],"object_linear_velocity_m_s":[-3.0233423245994053e-19,1.6551345171607686e-17,1.1104472938262962e-14],"object_angular_velocity_rad_s":[-6.834260267249216e-16,-5.708526991220174e-17,-4.171606388985078e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322187576,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967156847022,-1.548566936919011,1.261619070384243,-1.3096608211064307,-1.57079507700028,-0.41200038889318136,0.0],"actuator_force":[3.893501343554817e-07,-21.685373215853815,-20.285946700951172,-2.4133491849280517,0.0006248347052633108,-6.787615802750224e-09,-0.29336110829414785],"issued_joint_targets_rad":[-1.9827967156727107,-1.5377242501695987,1.2717620459968484,-1.304834123699925,-1.570796326679868,-0.4120003888809436],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.079999999997636,"joint_targets_rad":[-1.9827967156727107,-1.5377242501695987,1.2717620459968484,-1.304834123699925,-1.570796326679868,-0.4120003888809436],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.099999999997625,"qpos":[-1.9827967187403406,-1.5377243068861237,1.2717622284807768,-1.3048342860912867,-1.5707963254435962,-0.4120003901087206,0.002933611094466055,0.00015630156215110983,0.003193479389323416,-0.003429298858488658,0.002933610996579457,0.00015630111549335435,0.003197849329165872,-0.003437996807042567,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,2.3423250037587482e-17,-1.5037872110599834e-17,-2.0849796356597436e-07],"qvel":[1.445734263583017e-08,2.834893449230101e-07,-9.235324756166173e-07,8.172052950598679e-07,-6.184856239358875e-09,6.201064868012272e-09,7.711811761590717e-10,3.0181375366927064e-09,-2.3160216238078033e-09,-9.12678537507252e-10,1.4136461068733195e-10,-2.4428846772249136e-09,2.5482392174350073e-09,-1.5240679474915395e-10,1.8467259111667717e-17,2.767487404470165e-17,1.1061451796058735e-14,-3.7276596656859915e-16,-1.7441250503404573e-16,-1.6768548697752153e-08],"joint_position_rad":[-1.9827967187403406,-1.5377243068861237,1.2717622284807768,-1.3048342860912867,-1.5707963254435962,-0.4120003901087206],"joint_velocity_rad_s":[1.445734263583017e-08,2.834893449230101e-07,-9.235324756166173e-07,8.172052950598679e-07,-6.184856239358875e-09,6.201064868012272e-09],"linkage_position_rad":[0.002933611094466055,0.00015630156215110983,0.003193479389323416,-0.003429298858488658,0.002933610996579457,0.00015630111549335435,0.003197849329165872,-0.003437996807042567],"tcp_position_m":[0.07433918988751209,0.5047373558376348,0.4349999567208386],"tcp_quaternion_wxyz":[-7.505535388088652e-09,0.7071067818359271,0.7071067805371671,1.7305452305855283e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,2.3423250037587482e-17,-1.5037872110599834e-17,-2.0849796356597436e-07],"object_linear_velocity_m_s":[1.8467259111667717e-17,2.767487404470165e-17,1.1061451796058735e-14],"object_angular_velocity_rad_s":[-3.727660387935447e-16,-1.7441234880659323e-16,-1.6768548697752176e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221776783,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967156727107,-1.5485669368944983,1.261619070223818,-1.3096608208998788,-1.5707950770126622,-0.41200038888089513,0.0],"actuator_force":[3.5232278605690226e-07,-21.685373412487024,-20.285947100927842,-2.4133491248254586,0.0006248339525427582,-6.1937441842019325e-09,-0.2933611091150045],"issued_joint_targets_rad":[-1.9827967156618487,-1.5377242500655735,1.2717620458190544,-1.30483412352412,-1.5707963266906935,-0.4120003888698068],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.099999999997625,"joint_targets_rad":[-1.9827967156618487,-1.5377242500655735,1.2717620458190544,-1.30483412352412,-1.5707963266906935,-0.4120003888698068],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.119999999997614,"qpos":[-1.9827967184637227,-1.5377243014942237,1.2717622109399085,-1.3048342705634763,-1.570796325562201,-0.4120003899900241,0.00293361110201229,0.0001563015647330591,0.0031934793957248725,-0.003429298868581011,0.002933611003839075,0.0001563011112385541,0.0031978493373188894,-0.003437996813818497,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,1.7421618530767585e-17,1.6581538109333857e-19,-2.0876889274181744e-07],"qvel":[1.320793495665053e-08,2.570831405037273e-07,-8.35652016335378e-07,7.399497965842211e-07,-5.655684830151618e-09,5.657811051014978e-09,-2.3613666408231415e-10,-2.8977807031662548e-09,3.2532409960134565e-09,-1.361822561501457e-10,9.196041424262425e-10,2.0014462960899466e-09,-1.5988652044938274e-09,-5.839935007007298e-10,-2.249792454692413e-17,2.878392173084204e-17,1.1061451796058734e-14,-4.962059625145027e-16,3.72037801281841e-15,-6.740430405214554e-08],"joint_position_rad":[-1.9827967184637227,-1.5377243014942237,1.2717622109399085,-1.3048342705634763,-1.570796325562201,-0.4120003899900241],"joint_velocity_rad_s":[1.320793495665053e-08,2.570831405037273e-07,-8.35652016335378e-07,7.399497965842211e-07,-5.655684830151618e-09,5.657811051014978e-09],"linkage_position_rad":[0.00293361110201229,0.0001563015647330591,0.0031934793957248725,-0.003429298868581011,0.002933611003839075,0.0001563011112385541,0.0031978493373188894,-0.003437996813818497],"tcp_position_m":[0.0743391898454743,0.5047373560057273,0.434999960902132],"tcp_quaternion_wxyz":[-6.834050231929545e-09,0.7071067817800935,0.707106780593001,1.5754076457575967e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,1.7421618530767585e-17,1.6581538109333857e-19,-2.0876889274181744e-07],"object_linear_velocity_m_s":[-2.249792454692413e-17,2.878392173084204e-17,1.1061451796058734e-14],"object_angular_velocity_rad_s":[-4.962044091384163e-16,3.720378222351414e-15,-6.740430405214563e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221720707,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967156618487,-1.5485669368725288,1.2616190700785623,-1.3096608207128198,-1.5707950770238828,-0.41200038886976265,0.0],"actuator_force":[3.2057459975476377e-07,-21.68537358986623,-20.285947461885826,-2.4133490696513036,0.0006248347275459309,-5.650406365020899e-09,-0.29336110870990567],"issued_joint_targets_rad":[-1.9827967156520094,-1.5377242499713963,1.271762045658099,-1.3048341233649647,-1.5707963267005003,-0.4120003888597181],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.119999999997614,"joint_targets_rad":[-1.9827967156520094,-1.5377242499713963,1.271762045658099,-1.3048341233649647,-1.5707963267005003,-0.4120003888597181],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.139999999997602,"qpos":[-1.982796718210954,-1.537724296604603,1.2717621950681812,-1.3048342565035131,-1.5707963256704272,-0.41200038988173243,0.00293361111064059,0.00015630157348643235,0.003193479394060535,-0.0034292988766280283,0.00293361100924553,0.00015630110348555107,0.0031978493497216817,-0.0034379968211333475,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,1.1201104738792331e-17,1.3381162863934025e-17,-2.0902446941304562e-07],"qvel":[1.207172409894939e-08,2.3313352254670806e-07,-7.561329962426871e-07,6.700040406149492e-07,-5.157475614310899e-09,5.161822365252964e-09,1.3560460349574179e-09,4.687940315241483e-09,-4.274988311538358e-09,-6.988431291215904e-10,-6.732285166995597e-10,-3.3470408199871096e-09,3.3412950852585696e-09,-1.8587414903223262e-11,-1.2644213556817002e-17,1.444447806679572e-17,1.0932388369446058e-14,-6.421903949649161e-16,-3.578768566362925e-17,-7.294320629346649e-09],"joint_position_rad":[-1.982796718210954,-1.537724296604603,1.2717621950681812,-1.3048342565035131,-1.5707963256704272,-0.41200038988173243],"joint_velocity_rad_s":[1.207172409894939e-08,2.3313352254670806e-07,-7.561329962426871e-07,6.700040406149492e-07,-5.157475614310899e-09,5.161822365252964e-09],"linkage_position_rad":[0.00293361111064059,0.00015630157348643235,0.003193479394060535,-0.0034292988766280283,0.00293361100924553,0.00015630110348555107,0.0031978493497216817,-0.0034379968211333475],"tcp_position_m":[0.07433918980657997,0.5047373561583249,0.43499996467925495],"tcp_quaternion_wxyz":[-6.2222938850638615e-09,0.7071067817290131,0.7071067806440816,1.4340929757280055e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,1.1201104738792331e-17,1.3381162863934025e-17,-2.0902446941304562e-07],"object_linear_velocity_m_s":[-1.2644213556817002e-17,1.444447806679572e-17,1.0932388369446058e-14],"object_angular_velocity_rad_s":[-6.421904101210779e-16,-3.57874170332041e-17,-7.29432062934666e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322168958,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967156520094,-1.5485669368528383,1.2616190699470398,-1.3096608205434128,-1.57079507703405,-0.412000388859678,0.0],"actuator_force":[2.891993062803522e-07,-21.685373749879545,-20.285947789084275,-2.4133490203539623,0.0006248339362855404,-5.155015969648957e-09,-0.29336110940839355],"issued_joint_targets_rad":[-1.9827967156430977,-1.5377242498861357,1.271762045512389,-1.304834123220884,-1.5707963267093843,-0.4120003888505769],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.139999999997602,"joint_targets_rad":[-1.9827967156430977,-1.5377242498861357,1.271762045512389,-1.304834123220884,-1.5707963267093843,-0.4120003888505769],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.159999999997591,"qpos":[-1.9827967179800081,-1.5377242921705296,1.2717621807067385,-1.3048342437726757,-1.570796325769228,-0.41200038978294,0.0029336111164836374,0.00015630157363606388,0.003193479399977745,-0.003429298881486148,0.0029336110155401556,0.00015630110600457458,0.0031978493499542856,-0.0034379968282026575,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,9.319351940660074e-18,1.9762613845720306e-17,-2.094455780859068e-07],"qvel":[1.103001086070819e-08,2.114121706674491e-07,-6.841829354837656e-07,6.066675390885866e-07,-4.705858720239131e-09,4.709027161712131e-09,1.1753422065571871e-09,4.264962556418706e-09,-3.960500125772842e-09,-6.963925741362225e-10,-5.535208391196659e-10,-3.3120745725929027e-09,3.407736440637517e-09,9.15025728892195e-11,-2.7382436122937594e-17,1.6796689681649815e-17,1.0937939484569184e-14,-1.6578423470774232e-16,-8.134596885405927e-17,-2.9320880084276023e-08],"joint_position_rad":[-1.9827967179800081,-1.5377242921705296,1.2717621807067385,-1.3048342437726757,-1.570796325769228,-0.41200038978294],"joint_velocity_rad_s":[1.103001086070819e-08,2.114121706674491e-07,-6.841829354837656e-07,6.066675390885866e-07,-4.705858720239131e-09,4.709027161712131e-09],"linkage_position_rad":[0.0029336111164836374,0.00015630157363606388,0.003193479399977745,-0.003429298881486148,0.0029336110155401556,0.00015630110600457458,0.0031978493499542856,-0.0034379968282026575],"tcp_position_m":[0.07433918977062834,0.5047373562968493,0.43499996809129904],"tcp_quaternion_wxyz":[-5.664971391169724e-09,0.7071067816822898,0.7071067806908045,1.3053805218528568e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,9.319351940660074e-18,1.9762613845720306e-17,-2.094455780859068e-07],"object_linear_velocity_m_s":[-2.7382436122937594e-17,1.6796689681649815e-17,1.0937939484569184e-14],"object_angular_velocity_rad_s":[-1.6578426994174935e-16,-8.134589886199907e-17,-2.9320880084276076e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221682754,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967156430977,-1.5485669368351915,1.2616190698279537,-1.3096608203899942,-1.5707950770432628,-0.4120003888505403,0.0],"actuator_force":[2.6181669454672374e-07,-21.685373894191798,-20.28594808439584,-2.4133489754132142,0.0006248335683949335,-4.7028265726112295e-09,-0.2933611097102965],"issued_joint_targets_rad":[-1.9827967156350248,-1.5377242498089472,1.2717620453804799,-1.3048341230904492,-1.570796326717432,-0.41200038884229606],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.159999999997591,"joint_targets_rad":[-1.9827967156350248,-1.5377242498089472,1.2717620453804799,-1.3048341230904492,-1.570796326717432,-0.41200038884229606],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.17999999999758,"qpos":[-1.9827967177690144,-1.5377242881496151,1.271762167711849,-1.3048342322453224,-1.5707963258594013,-0.41200038969281894,0.0029336111200408523,0.00015630156300513347,0.003193479414470538,-0.0034292988858288264,0.002933611022938354,0.0001563011148309576,0.003197849346397857,-0.003437996834885972,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,6.337992255939109e-18,1.4841618253608902e-17,-2.095567539675482e-07],"qvel":[1.0078029168950906e-08,1.9171221309394497e-07,-6.190800063551483e-07,5.493189618444728e-07,-4.291065734182408e-09,4.295684379284689e-09,9.300562887979419e-10,4.24103529748705e-09,-3.6944718347213216e-09,-8.681020700882298e-10,-3.1335507002403673e-10,-3.3524132583496167e-09,3.280829029657047e-09,1.57221491034094e-10,-1.7981068323881338e-17,8.468568631335098e-18,1.079083493380635e-14,-4.2376214802107346e-16,-4.2957688545940216e-16,-3.1730303201984658e-09],"joint_position_rad":[-1.9827967177690144,-1.5377242881496151,1.271762167711849,-1.3048342322453224,-1.5707963258594013,-0.41200038969281894],"joint_velocity_rad_s":[1.0078029168950906e-08,1.9171221309394497e-07,-6.190800063551483e-07,5.493189618444728e-07,-4.291065734182408e-09,4.295684379284689e-09],"linkage_position_rad":[0.0029336111200408523,0.00015630156300513347,0.003193479414470538,-0.0034292988858288264,0.002933611022938354,0.0001563011148309576,0.003197849346397857,-0.003437996834885972],"tcp_position_m":[0.07433918973740178,0.5047373564225938,0.43499997117356737],"tcp_quaternion_wxyz":[-5.157279242057071e-09,0.7071067816395549,0.7071067807335398,1.188153525267434e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,6.337992255939109e-18,1.4841618253608902e-17,-2.095567539675482e-07],"object_linear_velocity_m_s":[-1.7981068323881338e-17,8.468568631335098e-18,1.079083493380635e-14],"object_angular_velocity_rad_s":[-4.237623281566982e-16,-4.2957670781470346e-16,-3.1730303201984716e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221634818,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967156350248,-1.5485669368193768,1.2616190697201275,-1.3096608202510545,-1.5707950770516106,-0.4120003888422628,0.0],"actuator_force":[2.3676784621784464e-07,-21.685374024408702,-20.28594835144031,-2.4133489347623254,0.0006248330018934212,-4.2903707253572065e-09,-0.29336111023246647],"issued_joint_targets_rad":[-1.9827967156277126,-1.5377242497390669,1.2717620452610643,-1.304834122972367,-1.5707963267247227,-0.4120003888347933],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.17999999999758,"joint_targets_rad":[-1.9827967156277126,-1.5377242497390669,1.2717620452610643,-1.304834122972367,-1.5707963267247227,-0.4120003888347933],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.19999999999757,"qpos":[-1.982796717576263,-1.5377242845034087,1.2717621559534606,-1.3048342218076956,-1.5707963259417017,-0.41200038961061325,0.0029336111224681416,0.00015630155081156036,0.003193479431569447,-0.0034292988913609814,0.002933611030262819,0.00015630112254400814,0.003197849342593672,-0.0034379968402192037,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,1.7414206874580816e-17,3.6897882848208946e-17,-2.1000364612646368e-07],"qvel":[9.206189305799281e-09,1.738457214225908e-07,-5.601732784964077e-07,4.973908183123834e-07,-3.912277648696066e-09,3.918393191263509e-09,3.0752513274098765e-10,1.6858960846029642e-09,-1.1288462441659093e-09,-6.554647607941803e-10,3.495502897475793e-10,-1.3512231796323194e-09,1.4716313976085806e-09,-1.0945289071435435e-10,-4.2804381262962976e-17,1.9082984768796232e-17,1.0821366066983541e-14,-2.588299393780539e-16,-7.051233423105886e-16,-1.2754586239052657e-08],"joint_position_rad":[-1.982796717576263,-1.5377242845034087,1.2717621559534606,-1.3048342218076956,-1.5707963259417017,-0.41200038961061325],"joint_velocity_rad_s":[9.206189305799281e-09,1.738457214225908e-07,-5.601732784964077e-07,4.973908183123834e-07,-3.912277648696066e-09,3.918393191263509e-09],"linkage_position_rad":[0.0029336111224681416,0.00015630155081156036,0.003193479431569447,-0.0034292988913609814,0.002933611030262819,0.00015630112254400814,0.003197849342593672,-0.0034379968402192037],"tcp_position_m":[0.07433918970670571,0.5047373565367321,0.43499997395795015],"tcp_quaternion_wxyz":[-4.694825333295166e-09,0.707106781600471,0.7071067807726235,1.0813942897253107e-08],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,1.7414206874580816e-17,3.6897882848208946e-17,-2.1000364612646368e-07],"object_linear_velocity_m_s":[-4.2804381262962976e-17,1.9082984768796232e-17,1.0821366066983541e-14],"object_angular_velocity_rad_s":[-2.5883023647621165e-16,-7.051232331558436e-16,-1.2754586239052682e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221567624,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967156277126,-1.5485669368052053,1.2616190696224965,-1.3096608201252264,-1.570795077059175,-0.412000388834763,0.0],"actuator_force":[2.1462483346113004e-07,-21.68537414188222,-20.285948592616933,-2.4133488978472997,0.0006248324912121461,-3.914180979336379e-09,-0.2933611109219252],"issued_joint_targets_rad":[-1.982796715621089,-1.5377242496758026,1.2717620451529594,-1.3048341228654694,-1.5707963267313274,-0.4120003888279958],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.19999999999757,"joint_targets_rad":[-1.982796715621089,-1.5377242496758026,1.2717620451529594,-1.3048341228654694,-1.5707963267313274,-0.4120003888279958],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.219999999997558,"qpos":[-1.9827967174001804,-1.537724281197034,1.2717621453139043,-1.3048342123567764,-1.5707963260167892,-0.412000389535632,0.002933611128926625,0.00015630156258722804,0.0031934794258836295,-0.003429298898575728,0.002933611032771268,0.00015630111241708518,0.003197849354078995,-0.003437996843398674,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999789,1.1557193447563298e-17,2.0374688948328145e-17,-2.103561402745493e-07],"qvel":[8.402963548935642e-09,1.5764231258602834e-07,-5.068737703628444e-07,4.503567635867939e-07,-3.6023460797083787e-09,3.5739882826841487e-09,-1.4169529052546608e-09,-8.875811370586871e-09,8.695171132277338e-09,6.168811047552408e-10,1.379288172596446e-09,6.388876180920839e-09,-6.099768638931193e-09,-6.959329578207733e-10,-2.2297240962003968e-17,4.074596301512069e-18,1.0783896039902446e-14,-6.420382568335346e-16,-2.0922769539166336e-15,-5.1269434487870556e-08],"joint_position_rad":[-1.9827967174001804,-1.537724281197034,1.2717621453139043,-1.3048342123567764,-1.5707963260167892,-0.412000389535632],"joint_velocity_rad_s":[8.402963548935642e-09,1.5764231258602834e-07,-5.068737703628444e-07,4.503567635867939e-07,-3.6023460797083787e-09,3.5739882826841487e-09],"linkage_position_rad":[0.002933611128926625,0.00015630156258722804,0.0031934794258836295,-0.003429298898575728,0.002933611032771268,0.00015630111241708518,0.003197849354078995,-0.003437996843398674],"tcp_position_m":[0.07433918967834531,0.5047373566403311,0.434999976473248],"tcp_quaternion_wxyz":[-4.273613056255378e-09,0.7071067815647264,0.7071067808083681,9.841732751021222e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999789,1.1557193447563298e-17,2.0374688948328145e-17,-2.103561402745493e-07],"object_linear_velocity_m_s":[-2.2297240962003968e-17,4.074596301512069e-18,1.0783896039902446e-14],"object_angular_velocity_rad_s":[-6.420391391692852e-16,-2.0922766826180116e-15,-5.1269434487870656e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221558185,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715621089,-1.5485669367925061,1.2616190695340972,-1.3096608200112752,-1.5707950770660302,-0.4120003888279682,0.0],"actuator_force":[1.9699700715136714e-07,-21.68537424786973,-20.28594881010622,-2.4133488629257727,0.0006248356140758915,-3.566924533515703e-09,-0.29336110789657094],"issued_joint_targets_rad":[-1.9827967156150896,-1.537724249618528,1.2717620450550937,-1.3048341227686964,-1.5707963267373102,-0.4120003888218384],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.219999999997558,"joint_targets_rad":[-1.9827967156150896,-1.537724249618528,1.2717620450550937,-1.3048341227686964,-1.5707963267373102,-0.4120003888218384],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.239999999997547,"qpos":[-1.9827967172393473,-1.537724278198856,1.271762135686702,-1.304834203799298,-1.5707963260852857,-0.41200038946724454,0.0029336111333865943,0.0001563015642559802,0.003193479428384743,-0.0034292989030235174,0.00293361103690779,0.00015630110993911163,0.003197849359988112,-0.003437996848349596,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,7.540369540880643e-18,7.793998432331008e-18,-2.1055053841553455e-07],"qvel":[7.681731574878359e-09,1.4294730990496328e-07,-4.586430919072686e-07,4.077929738834668e-07,-3.261513449958243e-09,3.2597098792535973e-09,1.2414969179597268e-09,5.219928799388844e-09,-4.844195534003828e-09,-6.741750014765808e-10,-7.75609056591144e-10,-3.7042589438653745e-09,3.578336763980977e-09,1.5854687316182016e-10,-1.3101042846809479e-17,8.02641517136949e-18,1.141949872150035e-14,-3.3110327035896354e-17,-8.106037255088758e-16,-5.5482464940296794e-09],"joint_position_rad":[-1.9827967172393473,-1.537724278198856,1.271762135686702,-1.304834203799298,-1.5707963260852857,-0.41200038946724454],"joint_velocity_rad_s":[7.681731574878359e-09,1.4294730990496328e-07,-4.586430919072686e-07,4.077929738834668e-07,-3.261513449958243e-09,3.2597098792535973e-09],"linkage_position_rad":[0.0029336111333865943,0.0001563015642559802,0.003193479428384743,-0.0034292989030235174,0.00293361103690779,0.00015630110993911163,0.003197849359988112,-0.003437996848349596],"tcp_position_m":[0.07433918965215547,0.5047373567343616,0.4349999787454806],"tcp_quaternion_wxyz":[-3.889992925502311e-09,0.707106781532042,0.7071067808410527,8.956440342498456e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,7.540369540880643e-18,7.793998432331008e-18,-2.1055053841553455e-07],"object_linear_velocity_m_s":[-1.3101042846809479e-17,8.02641517136949e-18,1.141949872150035e-14],"object_angular_velocity_rad_s":[-3.3110668468481144e-17,-8.106037114823379e-16,-5.548246494029679e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322152456,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967156150896,-1.548566936781127,1.2616190694540566,-1.3096608199080788,-1.5707950770722408,-0.41200038882181333,0.0],"actuator_force":[1.7582260625204071e-07,-21.68537434346581,-20.285949008054104,-2.4133488336877917,0.0006248326739068943,-3.2553941764490446e-09,-0.29336111084415856],"issued_joint_targets_rad":[-1.9827967156096558,-1.5377242495666763,1.2717620449664973,-1.304834122681088,-1.57079632674273,-0.41200038881625894],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.239999999997547,"joint_targets_rad":[-1.9827967156096558,-1.5377242495666763,1.2717620449664973,-1.304834122681088,-1.57079632674273,-0.41200038881625894],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.259999999997536,"qpos":[-1.9827967170924603,-1.5377242754801808,1.2717621269755135,-1.3048341960508243,-1.570796326147814,-0.4120003894048744,0.0029336111362878396,0.0001563015558842169,0.003193479439373579,-0.0034292989051359335,0.002933611041142092,0.0001563011140374393,0.0031978493596884895,-0.0034379968537797483,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,1.7128037556075252e-17,3.0907049940091784e-18,-2.109683469100313e-07],"qvel":[7.016294509238056e-09,1.2962049748109173e-07,-4.1500390393544595e-07,3.6924331885778996e-07,-2.9715350136785584e-09,2.972886438180651e-09,7.004157536032662e-10,3.628749406330933e-09,-3.1504689435859103e-09,-6.762458706576912e-10,-1.590981275234606e-10,-2.490748769712788e-09,2.474957353919912e-09,2.2730892695433963e-11,-6.4181873331242595e-18,2.0626421444253444e-17,1.1652645556671633e-14,1.7915614726639274e-16,-3.3390254039996993e-16,-2.2302209951541666e-08],"joint_position_rad":[-1.9827967170924603,-1.5377242754801808,1.2717621269755135,-1.3048341960508243,-1.570796326147814,-0.4120003894048744],"joint_velocity_rad_s":[7.016294509238056e-09,1.2962049748109173e-07,-4.1500390393544595e-07,3.6924331885778996e-07,-2.9715350136785584e-09,2.972886438180651e-09],"linkage_position_rad":[0.0029336111362878396,0.0001563015558842169,0.003193479439373579,-0.0034292989051359335,0.002933611041142092,0.0001563011140374393,0.0031978493596884895,-0.0034379968537797483],"tcp_position_m":[0.07433918962799463,0.5047373568197024,0.4349999807981514],"tcp_quaternion_wxyz":[-3.5406125244621624e-09,0.7071067815021606,0.7071067808709335,8.150363562364429e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,1.7128037556075252e-17,3.0907049940091784e-18,-2.109683469100313e-07],"object_linear_velocity_m_s":[-6.4181873331242595e-18,2.0626421444253444e-17,1.1652645556671633e-14],"object_angular_velocity_rad_s":[1.791560062427839e-16,-3.339026152285065e-16,-2.2302209951541666e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221466334,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967156096558,-1.5485669367709318,1.2616190693815843,-1.3096608198146216,-1.5707950770778687,-0.41200038881623613,0.0],"actuator_force":[1.5909108697087504e-07,-21.685374429700914,-20.285949186296875,-2.4133488062304878,0.0006248321261637102,-2.9695002012886107e-09,-0.2933611115780847],"issued_joint_targets_rad":[-1.982796715604733,-1.5377242495197334,1.271762044886293,-1.3048341226017788,-1.57079632674764,-0.41200038881120465],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.259999999997536,"joint_targets_rad":[-1.982796715604733,-1.5377242495197334,1.271762044886293,-1.3048341226017788,-1.57079632674764,-0.41200038881120465],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.279999999997525,"qpos":[-1.982796716958312,-1.537724273014982,1.2717621190931712,-1.3048341890348718,-1.5707963262048694,-0.4120003893479956,0.0029336111369939375,0.00015630154317361003,0.0031934794555941557,-0.0034292989089819937,0.002933611046635468,0.0001563011212399356,0.0031978493547619685,-0.0034379968575508407,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,1.418280897970301e-17,1.4717498943612685e-18,-2.1119975262878997e-07],"qvel":[6.4058845130149e-09,1.1753462691347064e-07,-3.755184459442199e-07,3.3433519114992085e-07,-2.7113635052831756e-09,2.711142965000477e-09,-2.813892132713703e-10,-1.4775793668169468e-09,1.886219103746537e-09,-3.005846997325414e-10,8.189298743852551e-10,8.755125738173062e-10,-5.553393872124118e-10,-3.0958546613221595e-10,-1.942175963301659e-18,9.106806247355752e-18,1.1765055637914929e-14,-9.601405909275866e-16,-2.47370741715207e-16,-8.964788591447489e-08],"joint_position_rad":[-1.982796716958312,-1.537724273014982,1.2717621190931712,-1.3048341890348718,-1.5707963262048694,-0.4120003893479956],"joint_velocity_rad_s":[6.4058845130149e-09,1.1753462691347064e-07,-3.755184459442199e-07,3.3433519114992085e-07,-2.7113635052831756e-09,2.711142965000477e-09],"linkage_position_rad":[0.0029336111369939375,0.00015630154317361003,0.0031934794555941557,-0.0034292989089819937,0.002933611046635468,0.0001563011212399356,0.0031978493547619685,-0.0034379968575508407],"tcp_position_m":[0.07433918960570197,0.5047373568971547,0.43499998265248413],"tcp_quaternion_wxyz":[-3.222442791319144e-09,0.7071067814748417,0.7071067808982527,7.416449937107517e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,1.418280897970301e-17,1.4717498943612685e-18,-2.1119975262878997e-07],"object_linear_velocity_m_s":[-1.942175963301659e-18,9.106806247355752e-18,1.1765055637914929e-14],"object_angular_velocity_rad_s":[-9.601406956806581e-16,-2.4737033360935665e-16,-8.964788591447492e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322140359,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715604733,-1.5485669367617967,1.2616190693159655,-1.3096608197299866,-1.5707950770829682,-0.4120003888111839,0.0],"actuator_force":[1.44804289448075e-07,-21.68537450747999,-20.285949347033238,-2.413348781076479,0.000624832087055438,-2.7084183784609195e-09,-0.2933611118691735],"issued_joint_targets_rad":[-1.982796715600274,-1.5377242494772354,1.2717620448136846,-1.3048341225299795,-1.570796326752088,-0.4120003888066254],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.279999999997525,"joint_targets_rad":[-1.982796715600274,-1.5377242494772354,1.2717620448136846,-1.3048341225299795,-1.570796326752088,-0.4120003888066254],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.299999999997514,"qpos":[-1.9827967168357923,-1.5377242707796552,1.2717621119608071,-1.3048341826821703,-1.570796326256873,-0.4120003892961272,0.0029336111447072336,0.0001563015696784058,0.0031934794337846136,-0.0034292989149841777,0.0029336110457177933,0.0001563011035997168,0.003197849372789243,-0.003437996858998118,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,8.807358497097546e-18,-7.310350274372133e-20,-2.115396702139778e-07],"qvel":[5.851076286154846e-09,1.0657450110238638e-07,-3.3978883434131495e-07,3.027268113401302e-07,-2.478012839273066e-09,2.472291574366524e-09,1.3275010834577064e-09,5.310205354011319e-09,-5.159546609263699e-09,-4.399629280893871e-10,-9.969800762438921e-10,-3.4586190688074293e-09,3.3452068071989612e-09,1.725519498692079e-10,-7.009169550810113e-19,9.892217504238012e-18,1.170538115034133e-14,-4.603012390051788e-16,1.2090527253883551e-16,-9.701463916864303e-09],"joint_position_rad":[-1.9827967168357923,-1.5377242707796552,1.2717621119608071,-1.3048341826821703,-1.570796326256873,-0.4120003892961272],"joint_velocity_rad_s":[5.851076286154846e-09,1.0657450110238638e-07,-3.3978883434131495e-07,3.027268113401302e-07,-2.478012839273066e-09,2.472291574366524e-09],"linkage_position_rad":[0.0029336111447072336,0.0001563015696784058,0.0031934794337846136,-0.0034292989149841777,0.0029336110457177933,0.0001563011035997168,0.003197849372789243,-0.003437996858998118],"tcp_position_m":[0.07433918958511612,0.5047373569674446,0.4349999843276488],"tcp_quaternion_wxyz":[-2.9327334135207662e-09,0.7071067814498628,0.7071067809232321,6.748255239507768e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,8.807358497097546e-18,-7.310350274372133e-20,-2.115396702139778e-07],"object_linear_velocity_m_s":[-7.009169550810113e-19,9.892217504238012e-18,1.170538115034133e-14],"object_angular_velocity_rad_s":[-4.603011878511964e-16,1.2090546745365788e-16,-9.701463916864308e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221459757,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715600274,-1.5485669367536126,1.2616190692565508,-1.309660819653339,-1.57079507708759,-0.41200038880660644,0.0],"actuator_force":[1.3060616765869781e-07,-21.685374577715265,-20.285949492978943,-2.4133487582654425,0.0006248324427815533,-2.4687949462531833e-09,-0.2933611111738564],"issued_joint_targets_rad":[-1.9827967155962358,-1.537724249438761,1.271762044747954,-1.3048341224649813,-1.5707963267561167,-0.41200038880247714],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.299999999997514,"joint_targets_rad":[-1.9827967155962358,-1.537724249438761,1.271762044747954,-1.3048341224649813,-1.5707963267561167,-0.41200038880247714],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.319999999997503,"qpos":[-1.9827967167239293,-1.5377242687527901,1.2717621055070436,-1.3048341769300638,-1.5707963263043514,-0.41200038924883076,0.002933611148415047,0.00015630157040364982,0.003193479433958694,-0.0034292989148277117,0.002933611047236367,0.00015630110396836448,0.0031978493748938313,-0.0034379968632641195,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,1.0991931820848888e-17,-2.1467849480660427e-17,-2.119055711009294e-07],"qvel":[5.343062361464489e-09,9.663509754325734e-08,-3.074598792491956e-07,2.741082311629761e-07,-2.258165785106195e-09,2.2543685611032266e-09,8.869750270768046e-10,4.063395784359676e-09,-3.86012090093804e-09,-4.791591409486405e-10,-5.345750324553723e-10,-2.7245044543373704e-09,2.675792880392927e-09,1.3377120835492745e-10,4.237458805252227e-17,2.0683969743637257e-17,1.1555501042016933e-14,1.9826809734115604e-16,-2.0235093569536844e-15,-3.8996840775510164e-08],"joint_position_rad":[-1.9827967167239293,-1.5377242687527901,1.2717621055070436,-1.3048341769300638,-1.5707963263043514,-0.41200038924883076],"joint_velocity_rad_s":[5.343062361464489e-09,9.663509754325734e-08,-3.074598792491956e-07,2.741082311629761e-07,-2.258165785106195e-09,2.2543685611032266e-09],"linkage_position_rad":[0.002933611148415047,0.00015630157040364982,0.003193479433958694,-0.0034292989148277117,0.002933611047236367,0.00015630110396836448,0.0031978493748938313,-0.0034379968632641195],"tcp_position_m":[0.07433918956615028,0.5047373570312317,0.43499998584097377],"tcp_quaternion_wxyz":[-2.6689243605386256e-09,0.7071067814270351,0.7071067809460596,6.139968669266784e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,1.0991931820848888e-17,-2.1467849480660427e-17,-2.119055711009294e-07],"object_linear_velocity_m_s":[4.237458805252227e-17,2.0683969743637257e-17,1.1555501042016933e-14],"object_angular_velocity_rad_s":[1.9826724142968333e-16,-2.0235094401244315e-15,-3.8996840775510184e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221456139,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155962358,-1.5485669367462809,1.2616190692027551,-1.3096608195839268,-1.570795077091777,-0.4120003888024599,0.0],"actuator_force":[1.1816246114904061e-07,-21.685374641020644,-20.28594962462512,-2.4133487377546317,0.00062483210388109,-2.251454134238884e-09,-0.29336111154457073],"issued_joint_targets_rad":[-1.9827967155925774,-1.5377242494039298,1.2717620446884492,-1.3048341224061393,-1.5707963267597673,-0.41200038879871825],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.319999999997503,"joint_targets_rad":[-1.9827967155925774,-1.5377242494039298,1.2717620446884492,-1.3048341224061393,-1.5707963267597673,-0.41200038879871825],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.339999999997492,"qpos":[-1.9827967166217906,-1.5377242669149684,1.2717620996673125,-1.30483417172176,-1.5707963263476654,-0.4120003892057056,0.0029336111483879716,0.00015630155868300583,0.003193479447778508,-0.003429298917446191,0.0029336110519234556,0.00015630111102529317,0.003197849370202656,-0.003437996866134043,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,8.280405550063012e-18,-2.264941713608702e-17,-2.1205343528993008e-07],"qvel":[4.878341227544877e-09,8.762162137559465e-08,-2.7820747649552455e-07,2.4819494605158176e-07,-2.05713824103489e-09,2.055548190023037e-09,4.290591627493192e-10,2.366015374429892e-09,-1.9846509688250947e-09,-4.756480925446047e-10,-1.3454352694179661e-11,-1.5862393028022318e-09,1.5898032685201122e-09,2.0356598391785504e-11,2.5816494195542938e-17,1.0159348256823478e-17,1.1479173209073954e-14,-5.770189400593983e-16,9.280160057787114e-16,-4.220137929591332e-09],"joint_position_rad":[-1.9827967166217906,-1.5377242669149684,1.2717620996673125,-1.30483417172176,-1.5707963263476654,-0.4120003892057056],"joint_velocity_rad_s":[4.878341227544877e-09,8.762162137559465e-08,-2.7820747649552455e-07,2.4819494605158176e-07,-2.05713824103489e-09,2.055548190023037e-09],"linkage_position_rad":[0.0029336111483879716,0.00015630155868300583,0.003193479447778508,-0.003429298917446191,0.0029336110519234556,0.00015630111102529317,0.003197849370202656,-0.003437996866134043],"tcp_position_m":[0.07433918954866618,0.504737357089115,0.4349999872080986],"tcp_quaternion_wxyz":[-2.4287247410842645e-09,0.7071067814061707,0.707106780966924,5.586235731742318e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,8.280405550063012e-18,-2.264941713608702e-17,-2.1205343528993008e-07],"object_linear_velocity_m_s":[2.5816494195542938e-17,1.0159348256823478e-17,1.1479173209073954e-14],"object_angular_velocity_rad_s":[-5.770185462902154e-16,9.280162505662143e-16,-4.220137929591334e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221403066,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155925774,-1.548566936739713,1.2616190691540463,-1.3096608195210662,-1.5707950770955714,-0.4120003887987026,0.0],"actuator_force":[1.0709027264965698e-07,-21.68537469813782,-20.285949743542005,-2.4133487191476206,0.0006248317607742138,-2.0533263977995375e-09,-0.2933611120935954],"issued_joint_targets_rad":[-1.9827967155892636,-1.5377242493723957,1.2717620446345799,-1.3048341223528699,-1.5707963267630736,-0.4120003887953131],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.339999999997492,"joint_targets_rad":[-1.9827967155892636,-1.5377242493723957,1.2717620446345799,-1.3048341223528699,-1.5707963267630736,-0.4120003887953131],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.35999999999748,"qpos":[-1.9827967165285356,-1.5377242652485779,1.2717620943831838,-1.3048341670058536,-1.5707963263871805,-0.4120003891663859,0.0029336111504586503,0.00015630155749320272,0.0031934794513416415,-0.0034292989199823207,0.0029336110538808347,0.00015630111132998862,0.003197849370731658,-0.003437996868183431,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,1.2329164906508802e-17,-3.5658465694417943e-17,-2.1251849883490916e-07],"qvel":[4.4505312216612595e-09,7.944789957282243e-08,-2.5173976928222324e-07,2.247258086816048e-07,-1.885894478695658e-09,1.874150902394902e-09,-8.364478536792459e-10,-5.0787309889134635e-09,5.069978874222969e-09,3.162243853127989e-10,1.0028215748440383e-09,3.2382710478322174e-09,-2.877367657821052e-09,-4.694913107049642e-10,4.2217279213870903e-17,1.4888715979293863e-17,1.1380640915638471e-14,-1.3072969182833608e-16,6.290867196241478e-16,-1.6963630262536072e-08],"joint_position_rad":[-1.9827967165285356,-1.5377242652485779,1.2717620943831838,-1.3048341670058536,-1.5707963263871805,-0.4120003891663859],"joint_velocity_rad_s":[4.4505312216612595e-09,7.944789957282243e-08,-2.5173976928222324e-07,2.247258086816048e-07,-1.885894478695658e-09,1.874150902394902e-09],"linkage_position_rad":[0.0029336111504586503,0.00015630155749320272,0.0031934794513416415,-0.0034292989199823207,0.0029336110538808347,0.00015630111132998862,0.003197849370731658,-0.003437996868183431],"tcp_position_m":[0.07433918953255232,0.5047373571416399,0.434999988443155],"tcp_quaternion_wxyz":[-2.2100331131072643e-09,0.7071067813871016,0.7071067809859931,5.082194510504007e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,1.2329164906508802e-17,-3.5658465694417943e-17,-2.1251849883490916e-07],"object_linear_velocity_m_s":[4.2217279213870903e-17,1.4888715979293863e-17,1.1380640915638471e-14],"object_angular_velocity_rad_s":[-1.3072942323339963e-16,6.290867756073418e-16,-1.6963630262536082e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322138675,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155892636,-1.548566936733829,1.261619069109943,-1.309660819464139,-1.5707950770990093,-0.4120003887952988,0.0],"actuator_force":[9.83313839242328e-08,-21.685374749662515,-20.285949850573616,-2.413348701723521,0.0006248326749300759,-1.8715411442826735e-09,-0.2933611110488429],"issued_joint_targets_rad":[-1.982796715586263,-1.5377242493438488,1.2717620445858147,-1.304834122304647,-1.5707963267660685,-0.41200038879222833],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.35999999999748,"joint_targets_rad":[-1.982796715586263,-1.5377242493438488,1.2717620445858147,-1.304834122304647,-1.5707963267660685,-0.41200038879222833],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.37999999999747,"qpos":[-1.9827967164433893,-1.5377242637376456,1.2717620896017925,-1.3048341627357762,-1.5707963264231792,-0.41200038913053766,0.0029336111548974256,0.0001563015720556639,0.003193479439787436,-0.0034292989238538397,0.0029336110541916946,0.00015630110166456058,0.003197849381238978,-0.003437996869524659,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,7.976169453296827e-18,-3.031427929193654e-17,-2.1279257994050573e-07],"qvel":[4.066418419397875e-09,7.203590864465214e-08,-2.2778782625256538e-07,2.034832060340845e-07,-1.7144748345064295e-09,1.7086743815876236e-09,1.1170917846416578e-09,4.7170305115255615e-09,-4.607207752500155e-09,-3.5741463226638855e-10,-8.654735275224039e-10,-3.0302430737548647e-09,2.9208176326041915e-09,1.7857379332705413e-10,5.1935178462444045e-17,8.874605600815596e-18,1.1375089800515344e-14,-4.827715309011359e-16,-8.228368706426643e-16,-6.818847072890176e-08],"joint_position_rad":[-1.9827967164433893,-1.5377242637376456,1.2717620896017925,-1.3048341627357762,-1.5707963264231792,-0.41200038913053766],"joint_velocity_rad_s":[4.066418419397875e-09,7.203590864465214e-08,-2.2778782625256538e-07,2.034832060340845e-07,-1.7144748345064295e-09,1.7086743815876236e-09],"linkage_position_rad":[0.0029336111548974256,0.0001563015720556639,0.003193479439787436,-0.0034292989238538397,0.0029336110541916946,0.00015630110166456058,0.003197849381238978,-0.003437996869524659],"tcp_position_m":[0.07433918951768732,0.5047373571893006,0.4349999895589042],"tcp_quaternion_wxyz":[-2.0109529174045746e-09,0.7071067813696722,0.7071067810034225,4.623391304982943e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,7.976169453296827e-18,-3.031427929193654e-17,-2.1279257994050573e-07],"object_linear_velocity_m_s":[5.1935178462444045e-17,8.874605600815596e-18,1.1375089800515344e-14],"object_angular_velocity_rad_s":[-4.827718769540848e-16,-8.228366640944266e-16,-6.818847072890183e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221413365,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715586263,-1.5485669367285602,1.261619069070012,-1.3096608194125865,-1.5707950771021244,-0.4120003887922154,0.0],"actuator_force":[8.768529369262978e-08,-21.68537479619272,-20.285949948430243,-2.413348686725726,0.0006248319748465292,-1.706325747363735e-09,-0.2933611117125473],"issued_joint_targets_rad":[-1.982796715583544,-1.5377242493180037,1.2717620445416675,-1.3048341222609907,-1.570796326768782,-0.41200038878943374],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.37999999999747,"joint_targets_rad":[-1.982796715583544,-1.5377242493180037,1.2717620445416675,-1.3048341222609907,-1.570796326768782,-0.41200038878943374],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.399999999997458,"qpos":[-1.9827967163656723,-1.537724262367685,1.2717620852752942,-1.304834158869417,-1.5707963264560463,-0.41200038909785625,0.00293361115447335,0.00015630155747713137,0.0031934794546170228,-0.0034292989232606007,0.0029336110580743553,0.00015630111130990952,0.0031978493744833146,-0.0034379968732879593,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,3.374196336470065e-18,-2.5144259975441457e-17,-2.1305112993386456e-07],"qvel":[3.713422982540014e-09,6.53145670280582e-08,-2.061159213896483e-07,1.842474691687842e-07,-1.5593322252305252e-09,1.557730396249953e-09,8.331023591001871e-10,4.8356686005525985e-09,-4.384109568231905e-09,-7.41494967964826e-10,-4.990056002793693e-10,-3.1296953346505725e-09,2.911447831884699e-09,2.785252728833064e-10,2.887477142432981e-17,5.247346767591244e-18,1.131402753416096e-14,-2.943294456087049e-16,1.1122446602983352e-15,-7.3791811326567515e-09],"joint_position_rad":[-1.9827967163656723,-1.537724262367685,1.2717620852752942,-1.304834158869417,-1.5707963264560463,-0.41200038909785625],"joint_velocity_rad_s":[3.713422982540014e-09,6.53145670280582e-08,-2.061159213896483e-07,1.842474691687842e-07,-1.5593322252305252e-09,1.557730396249953e-09],"linkage_position_rad":[0.00293361115447335,0.00015630155747713137,0.0031934794546170228,-0.0034292989232606007,0.0029336110580743553,0.00015630111130990952,0.0031978493744833146,-0.0034379968732879593],"tcp_position_m":[0.07433918950400949,0.5047373572325458,0.43499999056688377],"tcp_quaternion_wxyz":[-1.8297089481336383e-09,0.7071067813537496,0.7071067810193451,4.205821655318375e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,3.374196336470065e-18,-2.5144259975441457e-17,-2.1305112993386456e-07],"object_linear_velocity_m_s":[2.887477142432981e-17,5.247346767591244e-18,1.131402753416096e-14],"object_angular_velocity_rad_s":[-2.9432897130762706e-16,1.1122447857624747e-15,-7.379181132656758e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221360507,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715583544,-1.5485669367238397,1.2616190690338562,-1.3096608193658996,-1.5707950771049468,-0.41200038878942197,0.0],"actuator_force":[7.888775144238025e-08,-21.68537483813634,-20.285950036507074,-2.4133486729882634,0.0006248314829235824,-1.5558896393486066e-09,-0.29336111229786904],"issued_joint_targets_rad":[-1.9827967155810815,-1.5377242492946055,1.271762044501701,-1.3048341222214694,-1.5707963267712404,-0.4120003887869011],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.399999999997458,"joint_targets_rad":[-1.9827967155810815,-1.5377242492946055,1.271762044501701,-1.3048341222214694,-1.5707963267712404,-0.4120003887869011],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.419999999997447,"qpos":[-1.982796716294727,-1.5377242611255575,1.2717620813604105,-1.3048341553685956,-1.5707963264860287,-0.4120003890680635,0.0029336111553268066,0.00015630155725093162,0.0031934794578685507,-0.003429298926771047,0.0029336110601648467,0.00015630111100759428,0.0031978493745021892,-0.003437996873797365,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,-1.048201955021447e-18,-2.8019700319158536e-17,-2.1347713769133447e-07],"qvel":[3.387449894154178e-09,5.921962667089855e-08,-1.8650762791727346e-07,1.6682655184281142e-07,-1.423964741063464e-09,1.420051874706087e-09,7.517150966893676e-11,3.7961826226895914e-10,-1.6045458165213157e-10,-1.220691946830028e-10,2.2307119910629936e-10,-2.675722544061071e-10,3.590068060845049e-10,-1.223528025683054e-10,4.1691148299625685e-17,-2.9436944583662583e-18,1.1148881859247964e-14,-1.6906642285514985e-16,3.1286534549846784e-16,-2.9661992679652575e-08],"joint_position_rad":[-1.982796716294727,-1.5377242611255575,1.2717620813604105,-1.3048341553685956,-1.5707963264860287,-0.4120003890680635],"joint_velocity_rad_s":[3.387449894154178e-09,5.921962667089855e-08,-1.8650762791727346e-07,1.6682655184281142e-07,-1.423964741063464e-09,1.420051874706087e-09],"linkage_position_rad":[0.0029336111553268066,0.00015630155725093162,0.0031934794578685507,-0.003429298926771047,0.0029336110601648467,0.00015630111100759428,0.0031978493745021892,-0.003437996873797365],"tcp_position_m":[0.07433918949141298,0.5047373572717823,0.434999991477504],"tcp_quaternion_wxyz":[-1.6647193573773894e-09,0.7071067813392001,0.7071067810338943,3.825787169557119e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,-1.048201955021447e-18,-2.8019700319158536e-17,-2.1347713769133447e-07],"object_linear_velocity_m_s":[4.1691148299625685e-17,-2.9436944583662583e-18,1.1148881859247964e-14],"object_angular_velocity_rad_s":[-1.690662876136975e-16,3.128654176198879e-16,-2.9661992679652608e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221348711,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155810815,-1.5485669367196118,1.2616190690011189,-1.30966081932362,-1.5707950771075052,-0.4120003887868904,0.0],"actuator_force":[7.23111952538602e-08,-21.68537487595904,-20.285950115532614,-2.4133486601674576,0.0006248316582286861,-1.4186127827997552e-09,-0.2933611122657962],"issued_joint_targets_rad":[-1.9827967155788508,-1.5377242492734229,1.2717620444655207,-1.3048341221856912,-1.5707963267734668,-0.41200038878460754],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.419999999997447,"joint_targets_rad":[-1.9827967155788508,-1.5377242492734229,1.2717620444655207,-1.3048341221856912,-1.5707963267734668,-0.41200038878460754],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.439999999997436,"qpos":[-1.9827967162299696,-1.5377242599993486,1.271762077817976,-1.3048341521987514,-1.5707963265133633,-0.4120003890409053,0.0029336111569754223,0.00015630155757691633,0.003193479458751007,-0.0034292989282795165,0.00293361106131978,0.00015630111068264872,0.003197849375749779,-0.003437996875447308,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,-7.798942611975878e-19,-1.8451342721779506e-17,-2.1358960696844768e-07],"qvel":[3.08660152957081e-09,5.369290639860276e-08,-1.6876550764546976e-07,1.5104214236386036e-07,-1.327553110501773e-09,1.2944392222173401e-09,-1.8250979643269452e-09,-1.0220935535820155e-08,9.75837917377584e-09,8.375730596817131e-10,1.2941273142047234e-09,6.579075675723821e-09,-6.4977206686401735e-09,-4.812036528654065e-10,2.3409912920475874e-17,-1.2650459704721312e-18,1.1172474098521251e-14,-7.186034467750084e-18,9.865247131892324e-16,-3.2099446489848012e-09],"joint_position_rad":[-1.9827967162299696,-1.5377242599993486,1.271762077817976,-1.3048341521987514,-1.5707963265133633,-0.4120003890409053],"joint_velocity_rad_s":[3.08660152957081e-09,5.369290639860276e-08,-1.6876550764546976e-07,1.5104214236386036e-07,-1.327553110501773e-09,1.2944392222173401e-09],"linkage_position_rad":[0.0029336111569754223,0.00015630155757691633,0.003193479458751007,-0.0034292989282795165,0.00293361106131978,0.00015630111068264872,0.003197849375749779,-0.003437996875447308],"tcp_position_m":[0.07433918947981148,0.5047373573073815,0.4349999923001737],"tcp_quaternion_wxyz":[-1.5145409650492318e-09,0.7071067813259068,0.7071067810471879,3.4799279750201784e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,-7.798942611975878e-19,-1.8451342721779506e-17,-2.1358960696844768e-07],"object_linear_velocity_m_s":[2.3409912920475874e-17,-1.2650459704721312e-18,1.1172474098521251e-14],"object_angular_velocity_rad_s":[-7.18561292644235e-18,9.865247162538611e-16,-3.209944648984805e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221342935,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155788508,-1.5485669367158255,1.2616190689714777,-1.3096608192853316,-1.570795077109823,-0.41200038878459777,0.0],"actuator_force":[6.759728421457112e-08,-21.68537491011648,-20.285950186793798,-2.4133486475043355,0.0006248345255244203,-1.2901466561743291e-09,-0.2933611082599069],"issued_joint_targets_rad":[-1.9827967155768305,-1.5377242492542458,1.271762044432767,-1.3048341221533017,-1.570796326775484,-0.4120003887825293],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.439999999997436,"joint_targets_rad":[-1.9827967155768305,-1.5377242492542458,1.271762044432767,-1.3048341221533017,-1.570796326775484,-0.4120003887825293],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.459999999997425,"qpos":[-1.982796716170862,-1.5377242589782516,1.27176207461255,-1.3048341493285909,-1.5707963265382694,-0.4120003890161498,0.002933611160897625,0.00015630157075244538,0.00319347944714247,-0.0034292989300080826,0.00293361106059386,0.0001563011023422875,0.0031978493846102083,-0.00343799687642695,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,-3.811699220521974e-19,-1.0881470822896147e-17,-2.140416981713121e-07],"qvel":[2.8232764342613266e-09,4.868139432471342e-08,-1.527081300537542e-07,1.3677334043764543e-07,-1.1840848090963377e-09,1.1799314442815523e-09,9.519700117024889e-10,4.2674035824846464e-09,-4.202703174189584e-09,-2.663282557250695e-10,-7.354196157277782e-10,-2.724163367507047e-09,2.6574847182094784e-09,1.4183122382299123e-10,1.393659394876718e-17,1.431357790995105e-18,1.1133616292659368e-14,6.292985573081777e-17,5.564297076463314e-16,-1.2902970257623797e-08],"joint_position_rad":[-1.982796716170862,-1.5377242589782516,1.27176207461255,-1.3048341493285909,-1.5707963265382694,-0.4120003890161498],"joint_velocity_rad_s":[2.8232764342613266e-09,4.868139432471342e-08,-1.527081300537542e-07,1.3677334043764543e-07,-1.1840848090963377e-09,1.1799314442815523e-09],"linkage_position_rad":[0.002933611160897625,0.00015630157075244538,0.00319347944714247,-0.0034292989300080826,0.00293361106059386,0.0001563011023422875,0.0031978493846102083,-0.00343799687642695],"tcp_position_m":[0.07433918946912488,0.5047373573396796,0.4349999930433922],"tcp_quaternion_wxyz":[-1.377856777631208e-09,0.7071067813137615,0.7071067810593332,3.165184290704339e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,-3.811699220521974e-19,-1.0881470822896147e-17,-2.140416981713121e-07],"object_linear_velocity_m_s":[1.393659394876718e-17,1.431357790995105e-18,1.1133616292659368e-14],"object_angular_velocity_rad_s":[6.293009420993776e-17,5.564296806972184e-16,-1.2902970257623814e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221374237,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155768305,-1.5485669367124346,1.2616190689446396,-1.3096608192506578,-1.570795077111923,-0.41200038878252043,0.0],"actuator_force":[5.875290298718028e-08,-21.685374940923793,-20.285950252568455,-2.4133486383675518,0.0006248315816037575,-1.1784493381128414e-09,-0.29336111215732624],"issued_joint_targets_rad":[-1.9827967155750006,-1.5377242492368846,1.2717620444031157,-1.3048341221239799,-1.5707963267773113,-0.4120003887806469],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.459999999997425,"joint_targets_rad":[-1.9827967155750006,-1.5377242492368846,1.2717620444031157,-1.3048341221239799,-1.5707963267773113,-0.4120003887806469],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.479999999997414,"qpos":[-1.982796716116925,-1.5377242580524675,1.2717620717120661,-1.3048341467298026,-1.5707963265610076,-0.41200038899358593,0.002933611160237692,0.0001563015603012929,0.003193479458336184,-0.003429298930498917,0.0029336110634055265,0.00015630110841997503,0.003197849380205007,-0.0034379968784747916,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,1.6632016768595123e-18,6.95999697236054e-18,-2.1439829315789103e-07],"qvel":[2.5764850362029476e-09,4.413710409817673e-08,-1.381806422262967e-07,1.2384289081785912e-07,-1.0770270587585064e-09,1.0754811288338008e-09,4.633708130393222e-10,2.5511099512450155e-09,-2.3075657382155793e-09,-3.107984423944849e-10,-1.6985560385109748e-10,-1.622121699784492e-09,1.6054306040962847e-09,4.297488778430135e-11,-2.3513053882166743e-17,-1.366348015786987e-19,1.1014267317512162e-14,2.5448536327092937e-16,2.4102871914525095e-15,-5.1865891681895474e-08],"joint_position_rad":[-1.982796716116925,-1.5377242580524675,1.2717620717120661,-1.3048341467298026,-1.5707963265610076,-0.41200038899358593],"joint_velocity_rad_s":[2.5764850362029476e-09,4.413710409817673e-08,-1.381806422262967e-07,1.2384289081785912e-07,-1.0770270587585064e-09,1.0754811288338008e-09],"linkage_position_rad":[0.002933611160237692,0.0001563015603012929,0.003193479458336184,-0.003429298930498917,0.0029336110634055265,0.00015630110841997503,0.003197849380205007,-0.0034379968784747916],"tcp_position_m":[0.0743391894593012,0.5047373573689808,0.4349999937148387],"tcp_quaternion_wxyz":[-1.2534432513009131e-09,0.7071067813026694,0.7071067810704251,2.8787890615979757e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,1.6632016768595123e-18,6.95999697236054e-18,-2.1439829315789103e-07],"object_linear_velocity_m_s":[-2.3513053882166743e-17,-1.366348015786987e-19,1.1014267317512162e-14],"object_angular_velocity_rad_s":[2.544863960718533e-16,2.4102870825023635e-15,-5.1865891681895554e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221329342,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155750006,-1.5485669367093982,1.2616190689203395,-1.309660819219257,-1.5707950771138257,-0.4120003887806388,0.0],"actuator_force":[5.3255007514962927e-08,-21.68537496870249,-20.285950311196302,-2.413348629016241,0.0006248312936349976,-1.0745679901447147e-09,-0.29336111264973697],"issued_joint_targets_rad":[-1.9827967155733426,-1.5377242492211673,1.2717620443762738,-1.304834122097436,-1.5707963267789666,-0.4120003887789409],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.479999999997414,"joint_targets_rad":[-1.9827967155733426,-1.5377242492211673,1.2717620443762738,-1.304834122097436,-1.5707963267789666,-0.4120003887789409],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.499999999997403,"qpos":[-1.9827967160677014,-1.5377242572131076,1.2717620690875133,-1.3048341443767204,-1.5707963265817442,-0.4120003889730205,0.0029336111599055875,0.00015630155343773484,0.0031934794663542876,-0.0034292989318186794,0.00293361106555604,0.0001563011125067357,0.0031978493766664845,-0.0034379968797312852,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,1.8905397233292105e-18,1.2280299344807225e-17,-2.1459495288359767e-07],"qvel":[2.3483379245821013e-09,4.001656913094575e-08,-1.2503642121751282e-07,1.1212971979055094e-07,-9.909550639053877e-10,9.80221484911732e-10,-7.210213228559401e-10,-3.823613667775463e-09,3.8814407878136675e-09,1.98571270116979e-10,7.755794407555737e-10,2.37941432725271e-09,-2.2322783130339353e-09,-2.619543102888575e-10,-1.2655984451761472e-17,1.5050155141935866e-18,1.1017042875073727e-14,-9.62040724912577e-17,-2.6153485610883797e-16,-5.612793559325748e-09],"joint_position_rad":[-1.9827967160677014,-1.5377242572131076,1.2717620690875133,-1.3048341443767204,-1.5707963265817442,-0.4120003889730205],"joint_velocity_rad_s":[2.3483379245821013e-09,4.001656913094575e-08,-1.2503642121751282e-07,1.1212971979055094e-07,-9.909550639053877e-10,9.80221484911732e-10],"linkage_position_rad":[0.0029336111599055875,0.00015630155343773484,0.0031934794663542876,-0.0034292989318186794,0.00293361106555604,0.0001563011125067357,0.0031978493766664845,-0.0034379968797312852],"tcp_position_m":[0.07433918945026252,0.5047373573955628,0.4349999943214451],"tcp_quaternion_wxyz":[-1.1402117124935305e-09,0.7071067812925371,0.7071067810805571,2.6181922481720098e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,1.8905397233292105e-18,1.2280299344807225e-17,-2.1459495288359767e-07],"object_linear_velocity_m_s":[-1.2655984451761472e-17,1.5050155141935866e-18,1.1017042875073727e-14],"object_angular_velocity_rad_s":[-9.620418487722281e-17,-2.6153481479777507e-16,-5.612793559325757e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322130289,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155733426,-1.5485669367066792,1.2616190688983384,-1.3096608191908214,-1.57079507711555,-0.4120003887789336,0.0],"actuator_force":[4.938192432746291e-08,-21.685374993770438,-20.285950363781467,-2.413348620022589,0.0006248321924431366,-9.78701564235962e-10,-0.2933611115458719],"issued_joint_targets_rad":[-1.9827967155718416,-1.5377242492069387,1.2717620443519742,-1.3048341220734054,-1.570796326780466,-0.412000388777396],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.499999999997403,"joint_targets_rad":[-1.9827967155718416,-1.5377242492069387,1.2717620443519742,-1.3048341220734054,-1.570796326780466,-0.412000388777396],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.519999999997392,"qpos":[-1.9827967160227753,-1.5377242564521132,1.271762066712639,-1.3048341422460998,-1.5707963266006166,-0.4120003889542773,0.0029336111651663875,0.0001563015749618235,0.0031934794461124087,-0.0034292989336382885,0.0029336110629204757,0.00015630109922156542,0.003197849389855165,-0.0034379968798571724,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,2.2109158988113684e-17,-2.716568101781836e-17,-2.1501762206916189e-07],"qvel":[2.145837508365836e-09,3.6280380310988583e-08,-1.1314037337960799e-07,1.015312471108657e-07,-8.981336542991239e-10,8.933606791355666e-10,1.0406043308851242e-09,4.4570521483360045e-09,-4.4773331193776816e-09,-2.033224000781124e-10,-8.919469570728222e-10,-2.795640082229438e-09,2.706646520039189e-09,1.7807753124021022e-10,3.593468348375813e-17,2.611674099319015e-17,1.0878264996995585e-14,5.493753056752413e-16,-1.716175450942657e-15,-2.2561668900140756e-08],"joint_position_rad":[-1.9827967160227753,-1.5377242564521132,1.271762066712639,-1.3048341422460998,-1.5707963266006166,-0.4120003889542773],"joint_velocity_rad_s":[2.145837508365836e-09,3.6280380310988583e-08,-1.1314037337960799e-07,1.015312471108657e-07,-8.981336542991239e-10,8.933606791355666e-10],"linkage_position_rad":[0.0029336111651663875,0.0001563015749618235,0.0031934794461124087,-0.0034292989336382885,0.0029336110629204757,0.00015630109922156542,0.003197849389855165,-0.0034379968798571724],"tcp_position_m":[0.07433918944193388,0.5047373574196773,0.43499999486947427],"tcp_quaternion_wxyz":[-1.0371771231811784e-09,0.7071067812832801,0.7071067810898142,2.3810675828776967e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,2.2109158988113684e-17,-2.716568101781836e-17,-2.1501762206916189e-07],"object_linear_velocity_m_s":[3.593468348375813e-17,2.611674099319015e-17,1.0878264996995585e-14],"object_angular_velocity_rad_s":[5.493745688850689e-16,-1.7161756861956065e-15,-2.2561668900140795e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221365632,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155718416,-1.5485669367042454,1.2616190688784177,-1.3096608191650698,-1.5707950771171129,-0.4120003887773893,0.0],"actuator_force":[4.3532509153010324e-08,-21.6853750164164,-20.28595041229346,-2.4133486126096386,0.0006248315652328529,-8.920721938920906e-10,-0.29336111214763005],"issued_joint_targets_rad":[-1.982796715570481,-1.5377242491940564,1.2717620443299757,-1.3048341220516524,-1.5707963267818246,-0.41200038877599565],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.519999999997392,"joint_targets_rad":[-1.982796715570481,-1.5377242491940564,1.2717620443299757,-1.3048341220516524,-1.5707963267818246,-0.41200038877599565],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.53999999999738,"qpos":[-1.9827967159817912,-1.5377242557621762,1.2717620645636825,-1.3048341403169383,-1.5707963266178497,-0.4120003889371958,0.0029336111623390893,0.00015630155435759576,0.003193479466504529,-0.003429298932910805,0.002933611067398734,0.00015630111171602355,0.0031978493800323476,-0.0034379968825783654,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,2.638665494894766e-17,-4.0797388769372514e-17,-2.1525171991056753e-07],"qvel":[1.959507407793383e-09,3.2892633221656665e-08,-1.023767983833542e-07,9.193398622533085e-08,-8.140760816370544e-10,8.141647177186927e-10,8.535237605750528e-10,5.172908921255936e-09,-4.717882171757689e-09,-7.387273298879214e-10,-5.868877872113768e-10,-3.2112854858815463e-09,2.9318009745218462e-09,3.2940676724145925e-10,1.321289772986204e-16,7.777882256316566e-17,1.0793610491367919e-14,4.0706285688196005e-15,-8.206544439676371e-15,-9.069082947362339e-08],"joint_position_rad":[-1.9827967159817912,-1.5377242557621762,1.2717620645636825,-1.3048341403169383,-1.5707963266178497,-0.4120003889371958],"joint_velocity_rad_s":[1.959507407793383e-09,3.2892633221656665e-08,-1.023767983833542e-07,9.193398622533085e-08,-8.140760816370544e-10,8.141647177186927e-10],"linkage_position_rad":[0.0029336111623390893,0.00015630155435759576,0.003193479466504529,-0.003429298932910805,0.002933611067398734,0.00015630111171602355,0.0031978493800323476,-0.0034379968825783654],"tcp_position_m":[0.07433918943428663,0.5047373574415526,0.43499999536459066],"tcp_quaternion_wxyz":[-9.434049557080744e-10,0.7071067812748294,0.7071067810982651,2.1653378896877168e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,2.638665494894766e-17,-4.0797388769372514e-17,-2.1525171991056753e-07],"object_linear_velocity_m_s":[1.321289772986204e-16,7.777882256316566e-17,1.0793610491367919e-14],"object_angular_velocity_rad_s":[4.07062504327352e-15,-8.206546187309174e-15,-9.069082947362357e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221288867,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715570481,-1.5485669367020651,1.2616190688603806,-1.3096608191417505,-1.5707950771185282,-0.4120003887759896,0.0],"actuator_force":[3.881723387166858e-08,-21.68537503683092,-20.28595045588463,-2.413348605804572,0.000624831068421372,-8.133724804793019e-10,-0.293361112820071],"issued_joint_targets_rad":[-1.9827967155692492,-1.5377242491823937,1.2717620443100601,-1.3048341220319577,-1.570796326783055,-0.4120003887747279],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.53999999999738,"joint_targets_rad":[-1.9827967155692492,-1.5377242491823937,1.2717620443100601,-1.3048341220319577,-1.570796326783055,-0.4120003887747279],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.55999999999737,"qpos":[-1.9827967159443938,-1.5377242551366672,1.2717620626191535,-1.304834138570178,-1.5707963266335707,-0.4120003889216294,0.0029336111626782034,0.00015630155529575593,0.003193479467790526,-0.003429298935280217,0.002933611068311417,0.0001563011110705748,0.0031978493795530986,-0.0034379968823283875,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999778,3.275467956682517e-17,-5.526349774250197e-17,-2.1559559202131378e-07],"qvel":[1.7856175002404191e-09,2.982080767817747e-08,-9.263898066215068e-08,8.324009499439882e-08,-7.440294564721128e-10,7.419496274954401e-10,4.618652480522377e-11,4.1556950909094307e-10,-2.3738968922857147e-10,-6.72873074828119e-11,1.8387951405698197e-10,-2.6363855019071407e-10,3.3292653123429953e-10,-8.707435929409376e-11,6.285977147609837e-17,3.720065247877454e-17,1.0793610491367919e-14,-1.0432579114770846e-15,1.6954387224129656e-15,-9.814328589613975e-09],"joint_position_rad":[-1.9827967159443938,-1.5377242551366672,1.2717620626191535,-1.304834138570178,-1.5707963266335707,-0.4120003889216294],"joint_velocity_rad_s":[1.7856175002404191e-09,2.982080767817747e-08,-9.263898066215068e-08,8.324009499439882e-08,-7.440294564721128e-10,7.419496274954401e-10],"linkage_position_rad":[0.0029336111626782034,0.00015630155529575593,0.003193479467790526,-0.003429298935280217,0.002933611068311417,0.0001563011110705748,0.0031978493795530986,-0.0034379968823283875],"tcp_position_m":[0.074339189427256,0.5047373574613953,0.4349999958119024],"tcp_quaternion_wxyz":[-8.580702577522298e-10,0.7071067812671107,0.7071067811059836,1.9690721664464727e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999778,3.275467956682517e-17,-5.526349774250197e-17,-2.1559559202131378e-07],"object_linear_velocity_m_s":[6.285977147609837e-17,3.720065247877454e-17,1.0793610491367919e-14],"object_angular_velocity_rad_s":[-1.0432571793340111e-15,1.6954391728993557e-15,-9.814328589613995e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221289918,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155692492,-1.5485669367001131,1.2616190688440485,-1.3096608191206311,-1.570795077119811,-0.4120003887747224,0.0],"actuator_force":[3.6041910789208487e-08,-21.68537505521499,-20.285950494617737,-2.4133485992360875,0.000624831282834748,-7.414655556203797e-10,-0.2933611126998112],"issued_joint_targets_rad":[-1.9827967155681336,-1.5377242491718361,1.2717620442920328,-1.30483412201413,-1.5707963267841696,-0.41200038877357814],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.55999999999737,"joint_targets_rad":[-1.9827967155681336,-1.5377242491718361,1.2717620442920328,-1.30483412201413,-1.5707963267841696,-0.41200038877357814],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.579999999997359,"qpos":[-1.9827967159102717,-1.5377242545695766,1.271762060859603,-1.3048341369885699,-1.5707963266478935,-0.41200038890744417,0.0029336111636336457,0.00015630155591056917,0.003193479467519708,-0.0034292989358428983,0.002933611068648463,0.0001563011109083731,0.0031978493801750585,-0.003437996883142171,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,4.060454440913709e-17,-5.18713814549442e-17,-2.1596574971777557e-07],"qvel":[1.6236883043027304e-09,2.7035661514012004e-08,-8.382807105115716e-08,7.53575009384454e-08,-7.079363181465765e-10,6.760809141733862e-10,-1.9180968829189558e-09,-1.0529000651926054e-08,1.000146675160923e-08,9.088372122503911e-10,1.2740244688236859e-09,6.667057042642879e-09,-6.636183056128658e-09,-4.4318859720839397e-10,7.415782424008667e-17,6.787473229835956e-17,1.130292530391471e-14,7.357251594480705e-16,2.412422007953866e-16,-3.945052134477996e-08],"joint_position_rad":[-1.9827967159102717,-1.5377242545695766,1.271762060859603,-1.3048341369885699,-1.5707963266478935,-0.41200038890744417],"joint_velocity_rad_s":[1.6236883043027304e-09,2.7035661514012004e-08,-8.382807105115716e-08,7.53575009384454e-08,-7.079363181465765e-10,6.760809141733862e-10],"linkage_position_rad":[0.0029336111636336457,0.00015630155591056917,0.003193479467519708,-0.0034292989358428983,0.002933611068648463,0.0001563011109083731,0.0031978493801750585,-0.003437996883142171],"tcp_position_m":[0.07433918942078907,0.5047373574793943,0.43499999621602714],"tcp_quaternion_wxyz":[-7.804252979446716e-10,0.7071067812600622,0.7071067811130323,1.7905176442807945e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,4.060454440913709e-17,-5.18713814549442e-17,-2.1596574971777557e-07],"object_linear_velocity_m_s":[7.415782424008667e-17,6.787473229835956e-17,1.130292530391471e-14],"object_angular_velocity_rad_s":[7.357252677408142e-16,2.412418862162328e-16,-3.945052134477996e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221291976,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155681336,-1.5485669366983665,1.2616190688292628,-1.3096608191015071,-1.5707950771209735,-0.41200038877357315,0.0],"actuator_force":[3.480136001599021e-08,-21.68537507184419,-20.285950529452293,-2.4133485922186537,0.0006248342535855045,-6.725713319610804e-10,-0.29336110839374335],"issued_joint_targets_rad":[-1.9827967155671231,-1.5377242491622778,1.2717620442757127,-1.3048341219979909,-1.5707963267851792,-0.41200038877253786],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.579999999997359,"joint_targets_rad":[-1.9827967155671231,-1.5377242491622778,1.2717620442757127,-1.3048341219979909,-1.5707963267851792,-0.41200038877253786],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.599999999997348,"qpos":[-1.982796715879139,-1.5377242540554537,1.2717620592674317,-1.3048341355564939,-1.5707963266609293,-0.41200038889451845,0.0029336111669417777,0.00015630156960415369,0.0031934794547012336,-0.003429298936824042,0.002933611067210052,0.00015630110261314676,0.003197849388499574,-0.003437996883323735,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,3.226817358095054e-17,-3.6023529765978696e-17,-2.1611533412585313e-07],"qvel":[1.4876032281068251e-09,2.4510356250975836e-08,-7.585185652706108e-08,6.824418818523235e-08,-6.181845876499874e-10,6.160793770918044e-10,9.417286787306512e-10,4.3971198327023e-09,-4.36598319977372e-09,-2.360734097307665e-10,-7.848584820932393e-10,-2.758408945428238e-09,2.6655043471133685e-09,1.8458738859788265e-10,4.511762681832568e-17,3.902885738517408e-17,1.1663747786917887e-14,-1.450613604546377e-15,1.8675115276680912e-15,-4.269234075335671e-09],"joint_position_rad":[-1.982796715879139,-1.5377242540554537,1.2717620592674317,-1.3048341355564939,-1.5707963266609293,-0.41200038889451845],"joint_velocity_rad_s":[1.4876032281068251e-09,2.4510356250975836e-08,-7.585185652706108e-08,6.824418818523235e-08,-6.181845876499874e-10,6.160793770918044e-10],"linkage_position_rad":[0.0029336111669417777,0.00015630156960415369,0.0031934794547012336,-0.003429298936824042,0.002933611067210052,0.00015630110261314676,0.003197849388499574,-0.003437996883323735],"tcp_position_m":[0.07433918941483748,0.5047373574957204,0.4349999965811359],"tcp_quaternion_wxyz":[-7.097851862750599e-10,0.7071067812536249,0.7071067811194696,1.628078904985122e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,3.226817358095054e-17,-3.6023529765978696e-17,-2.1611533412585313e-07],"object_linear_velocity_m_s":[4.511762681832568e-17,3.902885738517408e-17,1.1663747786917887e-14],"object_angular_velocity_rad_s":[-1.4506127970429003e-15,1.8675121549431254e-15,-4.269234075335671e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221331683,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155671231,-1.5485669366968027,1.261619068815875,-1.3096608190841887,-1.5707950771220265,-0.4120003887725333,0.0],"actuator_force":[2.8990598366362974e-08,-21.685375086840395,-20.28595056237009,-2.413348588266217,0.0006248312698744485,-6.153868525871076e-10,-0.29336111249194247],"issued_joint_targets_rad":[-1.9827967155662076,-1.5377242491536245,1.271762044260937,-1.304834121983379,-1.5707963267860943,-0.4120003887715946],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.599999999997348,"joint_targets_rad":[-1.9827967155662076,-1.5377242491536245,1.271762044260937,-1.304834121983379,-1.5707963267860943,-0.4120003887715946],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.619999999997336,"qpos":[-1.9827967158507451,-1.5377242535893572,1.2717620578267124,-1.3048341342598346,-1.57079632667284,-0.41200038888274076,0.0029336111655695702,0.00015630155898520659,0.0031934794653706534,-0.003429298936591551,0.002933611069496823,0.0001563011091863283,0.0031978493830181385,-0.0034379968846598003,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,3.105022876624894e-17,-4.006954541660061e-17,-2.1658580811664347e-07],"qvel":[1.3569332632035154e-09,2.2220648566122465e-08,-6.863667053595675e-08,6.179251737507995e-08,-5.60715273582082e-10,5.613634831763727e-10,4.431189692670537e-10,2.6224195033136003e-09,-2.4038280763337433e-09,-2.8517785713055266e-10,-2.043835885810447e-10,-1.6543078017590043e-09,1.619917007649825e-09,8.321356391899187e-11,5.147707390951482e-17,3.862986972468519e-17,1.1770606753038056e-14,-1.3397028644647217e-15,1.2660331281887065e-15,-1.7160981362806924e-08],"joint_position_rad":[-1.9827967158507451,-1.5377242535893572,1.2717620578267124,-1.3048341342598346,-1.57079632667284,-0.41200038888274076],"joint_velocity_rad_s":[1.3569332632035154e-09,2.2220648566122465e-08,-6.863667053595675e-08,6.179251737507995e-08,-5.60715273582082e-10,5.613634831763727e-10],"linkage_position_rad":[0.0029336111655695702,0.00015630155898520659,0.0031934794653706534,-0.003429298936591551,0.002933611069496823,0.0001563011091863283,0.0031978493830181385,-0.0034379968846598003],"tcp_position_m":[0.07433918940937985,0.5047373575105282,0.4349999969110013],"tcp_quaternion_wxyz":[-6.455037582819309e-10,0.7071067812477502,0.7071067811253443,1.480328419196186e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,3.105022876624894e-17,-4.006954541660061e-17,-2.1658580811664347e-07],"object_linear_velocity_m_s":[5.147707390951482e-17,3.862986972468519e-17,1.1770606753038056e-14],"object_angular_velocity_rad_s":[-1.3397023146797144e-15,1.2660337095755476e-15,-1.7160981362806927e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322129444,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155662076,-1.5485669366954027,1.261619068803752,-1.3096608190685042,-1.570795077122981,-0.41200038877159045,0.0],"actuator_force":[2.6301677280571312e-08,-21.685375100350484,-20.28595059125246,-2.413348583586526,0.0006248310010050773,-5.611866527033271e-10,-0.29336111294699657],"issued_joint_targets_rad":[-1.9827967155653783,-1.5377242491457905,1.2717620442475617,-1.3048341219701522,-1.5707963267869227,-0.41200038877073997],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.619999999997336,"joint_targets_rad":[-1.9827967155653783,-1.5377242491457905,1.2717620442475617,-1.3048341219701522,-1.5707963267869227,-0.41200038877073997],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.639999999997325,"qpos":[-1.9827967158248427,-1.5377242531668045,1.2717620565230399,-1.3048341330857767,-1.5707963266836997,-0.41200038887200957,0.002933611164631531,0.00015630155199475347,0.003193479472972549,-0.003429298937320364,0.002933611071140162,0.00015630111356135915,0.003197849378862217,-0.0034379968852444602,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,1.786394182164847e-17,-2.809448346778559e-17,-2.1686307782084297e-07],"qvel":[1.2348058011736306e-09,2.0144645192353713e-08,-6.210895640175224e-08,5.5945538742087314e-08,-5.202418403839651e-10,5.114729069336249e-10,-7.687610080366731e-10,-3.9204986668941365e-09,3.951525104945043e-09,2.3283547990035604e-10,7.700629667502271e-10,2.45757202306544e-09,-2.3275295913894676e-09,-2.379039226963496e-10,4.7930958420363886e-17,2.856752446304332e-17,1.183722013451557e-14,-1.0132486565613761e-15,2.637838877641493e-16,-6.898176022629346e-08],"joint_position_rad":[-1.9827967158248427,-1.5377242531668045,1.2717620565230399,-1.3048341330857767,-1.5707963266836997,-0.41200038887200957],"joint_velocity_rad_s":[1.2348058011736306e-09,2.0144645192353713e-08,-6.210895640175224e-08,5.5945538742087314e-08,-5.202418403839651e-10,5.114729069336249e-10],"linkage_position_rad":[0.002933611164631531,0.00015630155199475347,0.003193479472972549,-0.003429298937320364,0.002933611071140162,0.00015630111356135915,0.003197849378862217,-0.0034379968852444602],"tcp_position_m":[0.07433918940436526,0.5047373575239585,0.43499999720902427],"tcp_quaternion_wxyz":[-5.870189446310562e-10,0.7071067812423865,0.7071067811307082,1.345932705057087e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,1.786394182164847e-17,-2.809448346778559e-17,-2.1686307782084297e-07],"object_linear_velocity_m_s":[4.7930958420363886e-17,2.856752446304332e-17,1.183722013451557e-14],"object_angular_velocity_rad_s":[-1.0132485382752954e-15,2.6378432970114057e-16,-6.898176022629349e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221271744,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155653783,-1.5485669366941495,1.2616190687927766,-1.3096608190543015,-1.5707950771238455,-0.4120003887707362,0.0],"actuator_force":[2.5006556825246662e-08,-21.685375112547717,-20.285950616943865,-2.41334857881634,0.0006248319514270406,-5.10596009917208e-10,-0.29336111179509444],"issued_joint_targets_rad":[-1.982796715564627,-1.537724249138699,1.271762044235454,-1.3048341219581778,-1.5707963267876737,-0.4120003887699662],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.639999999997325,"joint_targets_rad":[-1.982796715564627,-1.537724249138699,1.271762044235454,-1.3048341219581778,-1.5707963267876737,-0.4120003887699662],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.659999999997314,"qpos":[-1.9827967158012068,-1.5377242527837311,1.2717620553433775,-1.3048341320227135,-1.5707963266935623,-0.41200038886223234,0.002933611169502561,0.00015630157406959838,0.003193479451716275,-0.003429298938640479,0.0029336110679069527,0.0001563010999081555,0.0031978493920787696,-0.0034379968847826716,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,1.0175382035892931e-17,-2.0593386982485706e-17,-2.1712463572730043e-07],"qvel":[1.1293338879276307e-09,1.826246702000632e-08,-5.619977033468695e-08,5.065889802659798e-08,-4.686390309991215e-10,4.660012738391429e-10,1.0438449822846237e-09,4.570891057395594e-09,-4.614990223087739e-09,-1.8358732579364323e-10,-9.416328754467758e-10,-2.8803825257981887e-09,2.773260404674782e-09,2.1006667703552063e-10,2.5647180177982755e-17,1.42881842835268e-17,1.153052102396287e-14,-6.308690228333022e-16,1.0465718193810418e-15,-7.465028884179686e-09],"joint_position_rad":[-1.9827967158012068,-1.5377242527837311,1.2717620553433775,-1.3048341320227135,-1.5707963266935623,-0.41200038886223234],"joint_velocity_rad_s":[1.1293338879276307e-09,1.826246702000632e-08,-5.619977033468695e-08,5.065889802659798e-08,-4.686390309991215e-10,4.660012738391429e-10],"linkage_position_rad":[0.002933611169502561,0.00015630157406959838,0.003193479451716275,-0.003429298938640479,0.0029336110679069527,0.0001563010999081555,0.0031978493920787696,-0.0034379968847826716],"tcp_position_m":[0.07433918939974389,0.5047373575361398,0.4349999974782772],"tcp_quaternion_wxyz":[-5.338251844533883e-10,0.7071067812374866,0.7071067811356081,1.2236755097731245e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,1.0175382035892931e-17,-2.0593386982485706e-17,-2.1712463572730043e-07],"object_linear_velocity_m_s":[2.5647180177982755e-17,1.42881842835268e-17,1.153052102396287e-14],"object_angular_velocity_rad_s":[-6.308685680527324e-16,1.0465720934872762e-15,-7.46502888417969e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221338486,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715564627,-1.5485669366930288,1.26161906878284,-1.3096608190414398,-1.5707950771246297,-0.41200038876996276,0.0],"actuator_force":[2.1425421437015757e-08,-21.685375123582162,-20.285950641167346,-2.4133485752530532,0.0006248313302421593,-4.653202267945744e-10,-0.2933611123815362],"issued_joint_targets_rad":[-1.9827967155639468,-1.5377242491322785,1.2717620442244921,-1.3048341219473378,-1.5707963267883536,-0.41200038876926476],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.659999999997314,"joint_targets_rad":[-1.9827967155639468,-1.5377242491322785,1.2717620442244921,-1.3048341219473378,-1.5707963267883536,-0.41200038876926476],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.679999999997303,"qpos":[-1.982796715779658,-1.5377242524364532,1.2717620542759216,-1.3048341310601803,-1.5707963267025815,-0.4120003888533248,0.002933611167611112,0.00015630156277701896,0.0031934794631158833,-0.003429298938374354,0.0029336110704965106,0.00015630110716525827,0.0031978493857061103,-0.003437996885951028,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,4.4147320089677344e-18,-5.1999253677994945e-17,-2.1755559956423935e-07],"qvel":[1.0305114433438549e-09,1.65559041063741e-08,-5.085391879302943e-08,4.587029141200178e-08,-4.2366755015523553e-10,4.2455969842109407e-10,7.354522814928964e-10,3.944283870625657e-09,-3.770769890457912e-09,-3.3817909075223623e-10,-5.457436360102107e-10,-2.499620242781645e-09,2.3877205658099377e-09,1.924790452903845e-10,7.760844192966867e-17,5.7268141272079805e-18,1.142782539418504e-14,-5.513021495873742e-16,-1.3646647344706159e-15,-3.00070737030678e-08],"joint_position_rad":[-1.982796715779658,-1.5377242524364532,1.2717620542759216,-1.3048341310601803,-1.5707963267025815,-0.4120003888533248],"joint_velocity_rad_s":[1.0305114433438549e-09,1.65559041063741e-08,-5.085391879302943e-08,4.587029141200178e-08,-4.2366755015523553e-10,4.2455969842109407e-10],"linkage_position_rad":[0.002933611167611112,0.00015630156277701896,0.0031934794631158833,-0.003429298938374354,0.0029336110704965106,0.00015630110716525827,0.0031978493857061103,-0.003437996885951028],"tcp_position_m":[0.074339189395513,0.5047373575471872,0.4349999977215451],"tcp_quaternion_wxyz":[-4.854229850079287e-10,0.7071067812330173,0.7071067811400774,1.1124926660222895e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,4.4147320089677344e-18,-5.1999253677994945e-17,-2.1755559956423935e-07],"object_linear_velocity_m_s":[7.760844192966867e-17,5.7268141272079805e-18,1.142782539418504e-14],"object_angular_velocity_rad_s":[-5.513027402475405e-16,-1.3646644943278027e-15,-3.000707370306782e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221301813,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155639468,-1.5485669366920252,1.2616190687738418,-1.3096608190297923,-1.5707950771253394,-0.41200038876926165,0.0],"actuator_force":[1.921807779581286e-08,-21.68537513350566,-20.285950662592313,-2.4133485718350585,0.0006248309878174041,-4.2439296521479264e-10,-0.29336111285392436],"issued_joint_targets_rad":[-1.9827967155633308,-1.5377242491264658,1.2717620442145698,-1.304834121937525,-1.5707963267889693,-0.41200038876862943],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.679999999997303,"joint_targets_rad":[-1.9827967155633308,-1.5377242491264658,1.2717620442145698,-1.304834121937525,-1.5707963267889693,-0.41200038876862943],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.699999999997292,"qpos":[-1.9827967157600042,-1.5377242521216288,1.271762053310002,-1.304834130188661,-1.5707963267108078,-0.4120003888452098,0.002933611165757112,0.00015630155203511127,0.0031934794743956646,-0.0034292989387673996,0.0029336110727941345,0.00015630111389826944,0.00319784937933627,-0.0034379968865869996,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,8.216073241408089e-19,-4.1483043069024524e-17,-2.176693772838994e-07],"qvel":[9.38610223656996e-10,1.5008642561941153e-08,-4.6017369869586685e-08,4.1532428934818934e-08,-3.863704899286796e-10,3.867849406508864e-10,-3.41627800386964e-11,2.712508171349951e-10,-5.554340584650988e-11,-1.2732332193572967e-10,2.3517584597041315e-10,-1.8807401046329955e-10,2.384348536456627e-10,-3.995458127340356e-11,5.00767265560188e-17,2.6829267334169025e-18,1.1383416473200036e-14,-1.1618215488741286e-16,1.96786884274859e-15,-3.247288430858694e-09],"joint_position_rad":[-1.9827967157600042,-1.5377242521216288,1.271762053310002,-1.304834130188661,-1.5707963267108078,-0.4120003888452098],"joint_velocity_rad_s":[9.38610223656996e-10,1.5008642561941153e-08,-4.6017369869586685e-08,4.1532428934818934e-08,-3.863704899286796e-10,3.867849406508864e-10],"linkage_position_rad":[0.002933611165757112,0.00015630155203511127,0.0031934794743956646,-0.0034292989387673996,0.0029336110727941345,0.00015630111389826944,0.00319784937933627,-0.0034379968865869996],"tcp_position_m":[0.0743391893916293,0.5047373575572058,0.4349999979413338],"tcp_quaternion_wxyz":[-4.4138974432977904e-10,0.7071067812289378,0.7071067811441569,1.0113753477944208e-09],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,8.216073241408089e-19,-4.1483043069024524e-17,-2.176693772838994e-07],"object_linear_velocity_m_s":[5.00767265560188e-17,2.6829267334169025e-18,1.1383416473200036e-14],"object_angular_velocity_rad_s":[-1.1618129792841597e-16,1.9678688933323354e-15,-3.247288430858696e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322126651,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155633308,-1.548566936691127,1.2616190687656963,-1.3096608190192451,-1.5707950771259822,-0.4120003887686266,0.0],"actuator_force":[1.7902948457049206e-08,-21.685375142453722,-20.285950681663508,-2.413348568534957,0.0006248310497767307,-3.8690473047608975e-10,-0.2933611129326276],"issued_joint_targets_rad":[-1.9827967155627721,-1.5377242491212038,1.2717620442055861,-1.3048341219286408,-1.5707963267895273,-0.41200038876805417],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.699999999997292,"joint_targets_rad":[-1.9827967155627721,-1.5377242491212038,1.2717620442055861,-1.3048341219286408,-1.5707963267895273,-0.41200038876805417],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.719999999997281,"qpos":[-1.9827967157420763,-1.5377242518362282,1.27176205243596,-1.3048341293995445,-1.5707963267182998,-0.4120003888378172,0.0029336111684732293,0.00015630156177598258,0.003193479464401001,-0.0034292989386698687,0.0029336110705810883,0.00015630110804392084,0.003197849384855095,-0.003437996886576323,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,-3.1167678017578205e-17,-4.3601104900116775e-17,-2.181267280152333e-07],"qvel":[8.499162048946221e-10,1.3605881654852552e-08,-4.1642029355993015e-08,3.759230413196797e-08,-3.8327958221719945e-10,3.523212828973492e-10,-2.095812643299706e-09,-1.213219215614113e-08,1.1390018961482324e-08,1.1842469506019455e-09,1.4166601830038472e-09,7.826788288885086e-09,-7.588286142125041e-09,-6.182021840238803e-10,5.2775336096532947e-17,-3.661639264483349e-17,1.1339007552215032e-14,2.4474238543163434e-16,1.6530411187920344e-15,-1.3053080542851488e-08],"joint_position_rad":[-1.9827967157420763,-1.5377242518362282,1.27176205243596,-1.3048341293995445,-1.5707963267182998,-0.4120003888378172],"joint_velocity_rad_s":[8.499162048946221e-10,1.3605881654852552e-08,-4.1642029355993015e-08,3.759230413196797e-08,-3.8327958221719945e-10,3.523212828973492e-10],"linkage_position_rad":[0.0029336111684732293,0.00015630156177598258,0.003193479464401001,-0.0034292989386698687,0.0029336110705810883,0.00015630110804392084,0.003197849384855095,-0.003437996886576323],"tcp_position_m":[0.07433918938805995,0.5047373575662916,0.4349999981399101],"tcp_quaternion_wxyz":[-4.0133714759236034e-10,0.707106781225213,0.7071067811478817,9.194114885695287e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,-3.1167678017578205e-17,-4.3601104900116775e-17,-2.181267280152333e-07],"object_linear_velocity_m_s":[5.2775336096532947e-17,-3.661639264483349e-17,1.1339007552215032e-14],"object_angular_velocity_rad_s":[2.447431077147696e-16,1.6530410112084986e-15,-1.30530805428515e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221301611,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155627721,-1.5485669366903236,1.2616190687583195,-1.3096608190096934,-1.5707950771265657,-0.4120003887680516,0.0],"actuator_force":[1.864191290223971e-08,-21.685375150543678,-20.285950698469605,-2.4133485643047834,0.0006248341949230962,-3.4933123060909566e-10,-0.29336110855695363],"issued_joint_targets_rad":[-1.9827967155622672,-1.5377242491164398,1.271762044197454,-1.3048341219205986,-1.570796326790033,-0.41200038876753303],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.719999999997281,"joint_targets_rad":[-1.9827967155622672,-1.5377242491164398,1.271762044197454,-1.3048341219205986,-1.570796326790033,-0.41200038876753303],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.73999999999727,"qpos":[-1.9827967157257238,-1.5377242515775031,1.271762051645055,-1.3048341286850322,-1.5707963267250982,-0.41200038883108303,0.002933611169476685,0.00015630156713691753,0.003193479459900311,-0.0034292989397931126,0.002933611070865425,0.00015630110462342109,0.003197849388691479,-0.0034379968867672395,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,-8.994099900565788e-18,-3.260824448638563e-17,-2.1848747154854826e-07],"qvel":[7.820978452550232e-10,1.2334144319295278e-08,-3.767892683870776e-08,3.4050236630604515e-08,-3.2072708312973443e-10,3.2096869748394506e-10,9.302973416815039e-10,4.594840410658591e-09,-4.4912805561308315e-09,-3.255729900852492e-10,-7.966676367312298e-10,-2.929276882259812e-09,2.774553243395495e-09,2.530530284237585e-10,4.778524856433226e-17,-1.6518673978059042e-18,1.1236311922437204e-14,3.1016500354052716e-15,7.165050424650585e-16,-5.2469287926215473e-08],"joint_position_rad":[-1.9827967157257238,-1.5377242515775031,1.271762051645055,-1.3048341286850322,-1.5707963267250982,-0.41200038883108303],"joint_velocity_rad_s":[7.820978452550232e-10,1.2334144319295278e-08,-3.767892683870776e-08,3.4050236630604515e-08,-3.2072708312973443e-10,3.2096869748394506e-10],"linkage_position_rad":[0.002933611169476685,0.00015630156713691753,0.003193479459900311,-0.0034292989397931126,0.002933611070865425,0.00015630110462342109,0.003197849388691479,-0.0034379968867672395],"tcp_position_m":[0.07433918938477378,0.5047373575745313,0.43499999831932074],"tcp_quaternion_wxyz":[-3.649164896877482e-10,0.7071067812218123,0.7071067811512822,8.357672053219459e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,-8.994099900565788e-18,-3.260824448638563e-17,-2.1848747154854826e-07],"object_linear_velocity_m_s":[4.778524856433226e-17,-1.6518673978059042e-18,1.1236311922437204e-14],"object_angular_velocity_rad_s":[3.1016503519215916e-15,7.165036861778143e-16,-5.246928792621553e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322131149,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155622672,-1.5485669366896044,1.2616190687516413,-1.3096608190010437,-1.5707950771270938,-0.4120003887675307,0.0],"actuator_force":[1.4073521015234292e-08,-21.685375157860562,-20.28595071525615,-2.4133485630293308,0.0006248310750152086,-3.206821475032484e-10,-0.29336111268525406],"issued_joint_targets_rad":[-1.9827967155618091,-1.537724249112128,1.2717620441900934,-1.3048341219133184,-1.5707963267904907,-0.4120003887670606],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.73999999999727,"joint_targets_rad":[-1.9827967155618091,-1.537724249112128,1.2717620441900934,-1.3048341219133184,-1.5707963267904907,-0.4120003887670606],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.759999999997259,"qpos":[-1.982796715710819,-1.5377242513429639,1.271762050929375,-1.3048341280380957,-1.570796326731326,-0.4120003888249488,0.0029336111670358184,0.00015630155451807932,0.0031934794731225714,-0.0034292989400772204,0.0029336110736367794,0.0001563011124713631,0.0031978493812848553,-0.003437996887442996,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,4.070799848694825e-18,-2.1403697897921683e-17,-2.1868641916974944e-07],"qvel":[7.130406787695372e-10,1.118108089817787e-08,-3.409524954215163e-08,3.0831527709015916e-08,-2.8922341854540723e-10,2.923784446676333e-10,4.5190529598710856e-10,2.8200492266526487e-09,-2.5794105993554903e-09,-3.052918753130351e-10,-2.2964312204495623e-10,-1.8018520508275644e-09,1.7434334209651578e-09,1.174472190079213e-10,2.7085758510442214e-17,8.146291137396865e-19,1.115582075315188e-14,4.102567728857775e-16,1.3011670910947231e-15,-5.678091550819242e-09],"joint_position_rad":[-1.982796715710819,-1.5377242513429639,1.271762050929375,-1.3048341280380957,-1.570796326731326,-0.4120003888249488],"joint_velocity_rad_s":[7.130406787695372e-10,1.118108089817787e-08,-3.409524954215163e-08,3.0831527709015916e-08,-2.8922341854540723e-10,2.923784446676333e-10],"linkage_position_rad":[0.0029336111670358184,0.00015630155451807932,0.0031934794731225714,-0.0034292989400772204,0.0029336110736367794,0.0001563011124713631,0.0031978493812848553,-0.003437996887442996],"tcp_position_m":[0.07433918938177032,0.5047373575820032,0.4349999984814209],"tcp_quaternion_wxyz":[-3.3177765595632994e-10,0.7071067812187115,0.7071067811543832,7.597173510910215e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,4.070799848694825e-18,-2.1403697897921683e-17,-2.1868641916974944e-07],"object_linear_velocity_m_s":[2.7085758510442214e-17,8.146291137396865e-19,1.115582075315188e-14],"object_angular_velocity_rad_s":[4.1025734222394687e-16,1.3011669117056596e-15,-5.678091550819249e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221268771,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155618091,-1.548566936688962,1.2616190687455962,-1.309660818993211,-1.570795077127572,-0.41200038876705847,0.0],"actuator_force":[1.2803866411559284e-08,-21.68537516442848,-20.285950729457454,-2.4133485607104603,0.000624830799438314,-2.9265834200487006e-10,-0.2933611131449408],"issued_joint_targets_rad":[-1.9827967155613941,-1.5377242491082224,1.2717620441834272,-1.304834121906727,-1.5707963267909055,-0.4120003887666322],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.759999999997259,"joint_targets_rad":[-1.9827967155613941,-1.5377242491082224,1.2717620441834272,-1.304834121906727,-1.5707963267909055,-0.4120003887666322],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.779999999997248,"qpos":[-1.9827967156972277,-1.537724251130351,1.2717620502817668,-1.3048341274523343,-1.570796326737008,-0.4120003888193613,0.0029336111683005636,0.00015630155632064815,0.0031934794705995467,-0.0034292989391309153,0.002933611072446918,0.0001563011116030435,0.0031978493821179666,-0.0034379968878568007,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,2.107869418195872e-17,1.51383510258981e-17,-2.1911400559457992e-07],"qvel":[6.467569410727238e-10,1.013571269656827e-08,-3.085368082252782e-08,2.7911475960392157e-08,-2.732118433957635e-10,2.6631430594565974e-10,-9.260868370575206e-10,-5.1402934572149564e-09,4.998328355546232e-09,4.6068123231428086e-10,9.044814722567301e-10,3.2808247184433542e-09,-2.9799866096266634e-09,-3.913218840081341e-10,-1.9114847264346257e-17,2.893914204039026e-17,1.1111411832166871e-14,3.3339794822696617e-16,1.7134492331115218e-15,-2.2824146336434416e-08],"joint_position_rad":[-1.9827967156972277,-1.537724251130351,1.2717620502817668,-1.3048341274523343,-1.570796326737008,-0.4120003888193613],"joint_velocity_rad_s":[6.467569410727238e-10,1.013571269656827e-08,-3.085368082252782e-08,2.7911475960392157e-08,-2.732118433957635e-10,2.6631430594565974e-10],"linkage_position_rad":[0.0029336111683005636,0.00015630155632064815,0.0031934794705995467,-0.0034292989391309153,0.002933611072446918,0.0001563011116030435,0.0031978493821179666,-0.0034379968878568007],"tcp_position_m":[0.07433918937901574,0.5047373575887785,0.43499999862787914],"tcp_quaternion_wxyz":[-3.016341301637777e-10,0.7071067812158817,0.7071067811572133,6.905650633493038e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,2.107869418195872e-17,1.51383510258981e-17,-2.1911400559457992e-07],"object_linear_velocity_m_s":[-1.9114847264346257e-17,2.893914204039026e-17,1.1111411832166871e-14],"object_angular_velocity_rad_s":[3.3339869841734464e-16,1.7134490879692464e-15,-2.2824146336434446e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221280297,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155613941,-1.5485669366883854,1.2616190687401199,-1.3096608189861176,-1.570795077128006,-0.41200038876663025,0.0],"actuator_force":[1.2964392226422206e-08,-21.68537517035338,-20.285950741821125,-2.4133485580392744,0.000624831822278793,-2.658850917214295e-10,-0.2933611119293472],"issued_joint_targets_rad":[-1.9827967155610187,-1.5377242491046876,1.2717620441773938,-1.3048341219007606,-1.5707963267912814,-0.4120003887662447],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.779999999997248,"joint_targets_rad":[-1.9827967155610187,-1.5377242491046876,1.2717620441773938,-1.3048341219007606,-1.5707963267912814,-0.4120003887662447],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.799999999997237,"qpos":[-1.982796715684824,-1.5377242509376168,1.2717620496957578,-1.3048341269219415,-1.5707963267421408,-0.4120003888142719,0.0029336111712021428,0.00015630157165564805,0.0031934794562111265,-0.0034292989409128688,0.0029336110707771767,0.00015630110179222514,0.0031978493918150205,-0.003437996887298753,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,2.0317522508025217e-17,3.114477602135618e-17,-2.1935082687818864e-07],"qvel":[5.931732166007719e-10,9.188107275871372e-09,-2.7917645192760117e-08,2.527564169868425e-08,-2.431377264451407e-10,2.4256745023391167e-10,1.0530866507283198e-09,4.815109721546571e-09,-4.791116337538596e-09,-2.7100712087015437e-10,-9.676546720705187e-10,-3.0750285985663627e-09,2.908622732433206e-09,2.7571414765285516e-10,-1.2120349179292503e-16,4.641501645825674e-17,1.1116962947289998e-14,1.48840425926401e-15,8.051226939738289e-15,-9.1745906406162e-08],"joint_position_rad":[-1.982796715684824,-1.5377242509376168,1.2717620496957578,-1.3048341269219415,-1.5707963267421408,-0.4120003888142719],"joint_velocity_rad_s":[5.931732166007719e-10,9.188107275871372e-09,-2.7917645192760117e-08,2.527564169868425e-08,-2.431377264451407e-10,2.4256745023391167e-10],"linkage_position_rad":[0.0029336111712021428,0.00015630157165564805,0.0031934794562111265,-0.0034292989409128688,0.0029336110707771767,0.00015630110179222514,0.0031978493918150205,-0.003437996887298753],"tcp_position_m":[0.07433918937646986,0.5047373575949219,0.434999998760202],"tcp_quaternion_wxyz":[-2.742354308801772e-10,0.7071067812132957,0.7071067811597987,6.276662087978701e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,2.0317522508025217e-17,3.114477602135618e-17,-2.1935082687818864e-07],"object_linear_velocity_m_s":[-1.2120349179292503e-16,4.641501645825674e-17,1.1116962947289998e-14],"object_angular_velocity_rad_s":[1.4884077856356316e-15,8.051226290500216e-15,-9.174590640616214e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221321777,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155610187,-1.5485669366878705,1.2616190687351627,-1.3096608189796946,-1.5707950771283992,-0.4120003887662429,0.0],"actuator_force":[1.034140950650908e-08,-21.685375175750778,-20.285950754132045,-2.4133485564407238,0.0006248311844956334,-2.4223822947533336e-10,-0.2933611125261259],"issued_joint_targets_rad":[-1.9827967155606783,-1.5377242491014878,1.2717620441719324,-1.3048341218953587,-1.5707963267916214,-0.41200038876589357],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.799999999997237,"joint_targets_rad":[-1.9827967155606783,-1.5377242491014878,1.2717620441719324,-1.3048341218953587,-1.5707963267916214,-0.41200038876589357],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.819999999997226,"qpos":[-1.9827967156735258,-1.5377242507629045,1.2717620491654813,-1.3048341264417178,-1.5707963267468519,-0.41200038880963663,0.002933611168374842,0.00015630155842274123,0.003193479470114679,-0.003429298941204692,0.0029336110738797843,0.00015630111016963735,0.003197849383805511,-0.0034379968879320036,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,1.9300214814081187e-17,4.819399610282807e-17,-2.196986995205642e-07],"qvel":[5.413088843151425e-10,8.328911605671884e-09,-2.5262232822306546e-08,2.28870884671309e-08,-2.1778041914253331e-10,2.2093424079141996e-10,7.780623275883953e-10,4.267861285392489e-09,-4.0723254494320085e-09,-3.663846856269523e-10,-5.975353209520566e-10,-2.723804481037538e-09,2.58405674757411e-09,2.2783510769974262e-10,-5.4485383253291677e-17,2.363104479135608e-17,1.1007328423608264e-14,-7.353301710809852e-16,-1.0085425281714569e-15,-9.928506304862676e-09],"joint_position_rad":[-1.9827967156735258,-1.5377242507629045,1.2717620491654813,-1.3048341264417178,-1.5707963267468519,-0.41200038880963663],"joint_velocity_rad_s":[5.413088843151425e-10,8.328911605671884e-09,-2.5262232822306546e-08,2.28870884671309e-08,-2.1778041914253331e-10,2.2093424079141996e-10],"linkage_position_rad":[0.002933611168374842,0.00015630155842274123,0.003193479470114679,-0.003429298941204692,0.0029336110738797843,0.00015630111016963735,0.003197849383805511,-0.0034379968879320036],"tcp_position_m":[0.07433918937414989,0.5047373576004928,0.4349999988797616],"tcp_quaternion_wxyz":[-2.4930547230976395e-10,0.7071067812109398,0.7071067811621544,5.704909496111208e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,1.9300214814081187e-17,4.819399610282807e-17,-2.196986995205642e-07],"object_linear_velocity_m_s":[-5.4485383253291677e-17,2.363104479135608e-17,1.1007328423608264e-14],"object_angular_velocity_rad_s":[-7.353306151888677e-16,-1.0085422046859517e-15,-9.928506304862691e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221278305,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155606783,-1.54856693668741,1.2616190687306752,-1.3096608189738772,-1.5707950771287544,-0.41200038876589196,0.0],"actuator_force":[9.171799320029095e-09,-21.685375180575193,-20.28595076471902,-2.413348554788513,0.0006248308268368419,-2.2109247765911277e-10,-0.2933611130153663],"issued_joint_targets_rad":[-1.9827967155603703,-1.537724249098591,1.2717620441669883,-1.3048341218904695,-1.5707963267919298,-0.4120003887655753],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.819999999997226,"joint_targets_rad":[-1.9827967155603703,-1.537724249098591,1.2717620441669883,-1.3048341218904695,-1.5707963267919298,-0.4120003887655753],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.839999999997215,"qpos":[-1.9827967156632262,-1.5377242506045303,1.2717620486856396,-1.3048341260069083,-1.5707963267511553,-0.4120003888054149,0.0029336111686271995,0.00015630155530956227,0.0031934794723506607,-0.0034292989397763122,0.002933611073575038,0.00015630111241198005,0.0031978493818516987,-0.00343799688865516,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,9.157290406018292e-18,5.2416427031085744e-17,-2.200731635493114e-07],"qvel":[4.919845672986218e-10,7.549945284430446e-09,-2.2860279322035157e-08,2.0722169687839702e-08,-1.9864745241741791e-10,2.0122242411538889e-10,-1.769613365248056e-10,-6.498081782913749e-10,7.423282794867813e-10,4.255098700920299e-11,3.6643345427215745e-10,3.9838227176360185e-10,-2.119752631231106e-10,-1.6616519327827185e-10,-7.42911236186357e-17,9.923211668642083e-18,1.091851058163825e-14,-1.0400127970923841e-15,4.479367984731827e-16,-3.990947993285811e-08],"joint_position_rad":[-1.9827967156632262,-1.5377242506045303,1.2717620486856396,-1.3048341260069083,-1.5707963267511553,-0.4120003888054149],"joint_velocity_rad_s":[4.919845672986218e-10,7.549945284430446e-09,-2.2860279322035157e-08,2.0722169687839702e-08,-1.9864745241741791e-10,2.0122242411538889e-10],"linkage_position_rad":[0.0029336111686271995,0.00015630155530956227,0.0031934794723506607,-0.0034292989397763122,0.002933611073575038,0.00015630111241198005,0.0031978493818516987,-0.00343799688865516],"tcp_position_m":[0.07433918937202551,0.504737357605544,0.4349999989877862],"tcp_quaternion_wxyz":[-2.2662961269177886e-10,0.707106781208791,0.7071067811643033,5.185097799015545e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,9.157290406018292e-18,5.2416427031085744e-17,-2.200731635493114e-07],"object_linear_velocity_m_s":[-7.42911236186357e-17,9.923211668642083e-18,1.091851058163825e-14],"object_angular_velocity_rad_s":[-1.0400126041183732e-15,4.479372569618792e-16,-3.9909479932858184e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221273591,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155603703,-1.5485669366869983,1.261619068726612,-1.3096608189686105,-1.5707950771290773,-0.4120003887655739,0.0],"actuator_force":[8.918050298234448e-09,-21.685375184913937,-20.28595077394357,-2.41334855306809,0.0006248309036891442,-2.0170887182757724e-10,-0.2933611130574725],"issued_joint_targets_rad":[-1.982796715560091,-1.537724249095968,1.2717620441625124,-1.304834121886043,-1.5707963267922094,-0.41200038876528705],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.839999999997215,"joint_targets_rad":[-1.982796715560091,-1.537724249095968,1.2717620441625124,-1.304834121886043,-1.5707963267922094,-0.41200038876528705],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.859999999997203,"qpos":[-1.9827967156538309,-1.5377242504609678,1.2717620482514376,-1.3048341256132083,-1.5707963267550642,-0.41200038880157,0.002933611169340414,0.0001563015581120935,0.0031934794695800614,-0.00342929894034896,0.002933611073032989,0.0001563011106464375,0.0031978493835404793,-0.0034379968884792798,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,2.8982433685193678e-18,4.243509840572898e-17,-2.2022448818911183e-07],"qvel":[4.421119785217573e-10,6.843855600060583e-09,-2.0687845200222737e-08,1.8748653703141128e-08,-2.147042427707126e-10,1.832244201037496e-10,-2.3254691542832318e-09,-1.3271707294142252e-08,1.2494895367185856e-08,1.2026591644788563e-09,1.5765312120979481e-09,8.571333286376603e-09,-8.318858733038275e-09,-6.20821741706633e-10,-4.8808921803384546e-17,5.172200351894329e-18,1.0881040554557154e-14,-2.841763438014696e-16,-1.7942748137914684e-15,-4.318901394717167e-09],"joint_position_rad":[-1.9827967156538309,-1.5377242504609678,1.2717620482514376,-1.3048341256132083,-1.5707963267550642,-0.41200038880157],"joint_velocity_rad_s":[4.421119785217573e-10,6.843855600060583e-09,-2.0687845200222737e-08,1.8748653703141128e-08,-2.147042427707126e-10,1.832244201037496e-10],"linkage_position_rad":[0.002933611169340414,0.0001563015581120935,0.0031934794695800614,-0.00342929894034896,0.002933611073032989,0.0001563011106464375,0.0031978493835404793,-0.0034379968884792798],"tcp_position_m":[0.07433918937007049,0.5047373576101233,0.43499999908538756],"tcp_quaternion_wxyz":[-2.0601250921383308e-10,0.7071067812068285,0.7071067811662656,4.712433248088921e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,2.8982433685193678e-18,4.243509840572898e-17,-2.2022448818911183e-07],"object_linear_velocity_m_s":[-4.8808921803384546e-17,5.172200351894329e-18,1.0881040554557154e-14],"object_angular_velocity_rad_s":[-2.8417713445449365e-16,-1.7942746886010836e-15,-4.318901394717174e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221283556,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715560091,-1.5485669366866297,1.261619068722933,-1.309660818963841,-1.5707950771293702,-0.4120003887652857,0.0],"actuator_force":[1.0635176295181736e-08,-21.685375188866146,-20.28595078187118,-2.413348550181695,0.0006248343174775073,-1.8030732462648302e-10,-0.2933611083739804],"issued_joint_targets_rad":[-1.982796715559838,-1.5377242490935945,1.2717620441584612,-1.3048341218820356,-1.5707963267924623,-0.4120003887650261],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.859999999997203,"joint_targets_rad":[-1.982796715559838,-1.5377242490935945,1.2717620441584612,-1.3048341218820356,-1.5707963267924623,-0.4120003887650261],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.879999999997192,"qpos":[-1.9827967156452624,-1.537724250330833,1.271762047858532,-1.3048341252567255,-1.570796326758596,-0.4120003887980685,0.002933611169759041,0.00015630156303989096,0.003193479466175972,-0.0034292989421445172,0.002933611073655836,0.00015630110732603193,0.003197849386766302,-0.003437996888150201,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999767,-5.1580861945952315e-18,2.4288468104952466e-17,-2.2070043556963667e-07],"qvel":[4.106190643083496e-10,6.20375887898184e-09,-1.871783244395325e-08,1.698927653581572e-08,-1.6472686820793794e-10,1.668868933503996e-10,9.955706747539298e-10,4.985332381221037e-09,-4.864011529540915e-09,-3.550022925374752e-10,-8.68014870245109e-10,-3.18644078526236e-09,3.001699167022831e-09,2.8843614573819535e-10,-3.194851815495844e-17,-5.484437150407837e-18,1.0721445994767287e-14,-1.9418141366785231e-16,-1.5868726231055413e-15,-1.736062840188878e-08],"joint_position_rad":[-1.9827967156452624,-1.537724250330833,1.271762047858532,-1.3048341252567255,-1.570796326758596,-0.4120003887980685],"joint_velocity_rad_s":[4.106190643083496e-10,6.20375887898184e-09,-1.871783244395325e-08,1.698927653581572e-08,-1.6472686820793794e-10,1.668868933503996e-10],"linkage_position_rad":[0.002933611169759041,0.00015630156303989096,0.003193479466175972,-0.0034292989421445172,0.002933611073655836,0.00015630110732603193,0.003197849386766302,-0.003437996888150201],"tcp_position_m":[0.07433918936826808,0.5047373576142764,0.4349999991735719],"tcp_quaternion_wxyz":[-1.8727612475009814e-10,0.7071067812050373,0.7071067811680574,4.282600833539446e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999767,-5.1580861945952315e-18,2.4288468104952466e-17,-2.2070043556963667e-07],"object_linear_velocity_m_s":[-3.194851815495844e-17,-5.484437150407837e-18,1.0721445994767287e-14],"object_angular_velocity_rad_s":[-1.941821149581182e-16,-1.58687253757264e-15,-1.7360628401888814e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221290133,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715559838,-1.548566936686301,1.2616190687196027,-1.3096608189595211,-1.5707950771296346,-0.41200038876502487,0.0],"actuator_force":[6.601112545467913e-09,-21.68537519243955,-20.285950790725565,-2.4133485503255088,0.0006248309533702923,-1.6686385606590193e-10,-0.29336111280852284],"issued_joint_targets_rad":[-1.982796715559609,-1.5377242490914442,1.2717620441547917,-1.3048341218784072,-1.5707963267926912,-0.4120003887647898],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.879999999997192,"joint_targets_rad":[-1.982796715559609,-1.5377242490914442,1.2717620441547917,-1.3048341218784072,-1.5707963267926912,-0.4120003887647898],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.899999999997181,"qpos":[-1.982796715637461,-1.537724250212871,1.2717620475029918,-1.3048341249339688,-1.570796326761852,-0.4120003887948798,0.002933611169298399,0.0001563015570382962,0.003193479471289488,-0.0034292989404909684,0.002933611074053236,0.00015630111133181775,0.0031978493832551546,-0.003437996889114608,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,-3.532543155584099e-18,1.1058460133595574e-17,-2.2098093096788575e-07],"qvel":[3.7401821823561605e-10,5.623376734460749e-09,-1.6937889659197535e-08,1.538374648526002e-08,-1.467459270603864e-10,1.5198144811093677e-10,3.222236872660851e-10,2.12576435966995e-09,-1.9688681208085636e-09,-1.8453669011869518e-10,-1.0465231317011099e-10,-1.3781612956785768e-09,1.424557118974866e-09,1.6542783647294125e-11,-1.4026201982595487e-17,-2.2762849935855963e-18,1.1083656256551244e-14,2.1786834225093645e-16,-1.6494645968137223e-15,-6.978427867723514e-08],"joint_position_rad":[-1.982796715637461,-1.537724250212871,1.2717620475029918,-1.3048341249339688,-1.570796326761852,-0.4120003887948798],"joint_velocity_rad_s":[3.7401821823561605e-10,5.623376734460749e-09,-1.6937889659197535e-08,1.538374648526002e-08,-1.467459270603864e-10,1.5198144811093677e-10],"linkage_position_rad":[0.002933611169298399,0.0001563015570382962,0.003193479471289488,-0.0034292989404909684,0.002933611074053236,0.00015630111133181775,0.0031978493832551546,-0.003437996889114608],"tcp_position_m":[0.07433918936663134,0.5047373576180408,0.43499999925325256],"tcp_quaternion_wxyz":[-1.7022434865058472e-10,0.7071067812034065,0.707106781169688,3.891994637716149e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,-3.532543155584099e-18,1.1058460133595574e-17,-2.2098093096788575e-07],"object_linear_velocity_m_s":[-1.4026201982595487e-17,-2.2762849935855963e-18,1.1083656256551244e-14],"object_angular_velocity_rad_s":[2.1786761170705735e-16,-1.649464693596091e-15,-6.978427867723514e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221275005,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715559609,-1.5485669366860058,1.2616190687165854,-1.309660818955609,-1.5707950771298742,-0.41200038876478867,0.0],"actuator_force":[6.097252480685711e-09,-21.685375195620054,-20.28595079765728,-2.4133485491947795,0.0006248306634688561,-1.525677362224087e-10,-0.2933611132554386],"issued_joint_targets_rad":[-1.9827967155594015,-1.5377242490894982,1.2717620441514714,-1.3048341218751243,-1.570796326792899,-0.4120003887645754],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.899999999997181,"joint_targets_rad":[-1.9827967155594015,-1.5377242490894982,1.2717620441514714,-1.3048341218751243,-1.570796326792899,-0.4120003887645754],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.91999999999717,"qpos":[-1.9827967156303468,-1.5377242501059438,1.2717620471812663,-1.304834124641732,-1.5707963267648202,-0.4120003887919762,0.002933611168593807,0.0001563015520588713,0.003193479475991571,-0.003429298940412466,0.0029336110745855457,0.00015630111453447651,0.0031978493801868265,-0.0034379968892940265,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,-6.196341860232702e-19,3.311364157893976e-18,-2.2124553178083374e-07],"qvel":[3.3735320498379593e-10,5.097274148598587e-09,-1.53284039227294e-08,1.3923984975775691e-08,-1.441213391806957e-10,1.383908527081917e-10,-1.0566210690123941e-09,-5.67676114540643e-09,5.56751784407607e-09,4.25014747851023e-10,1.021357423831532e-09,3.618646245930868e-09,-3.3183659857081698e-09,-3.803028912891501e-10,-6.08138388302297e-18,-1.665948869280126e-18,1.1638767768863822e-14,4.056246960512457e-16,-2.254388196729818e-16,-7.551875369347931e-09],"joint_position_rad":[-1.9827967156303468,-1.5377242501059438,1.2717620471812663,-1.304834124641732,-1.5707963267648202,-0.4120003887919762],"joint_velocity_rad_s":[3.3735320498379593e-10,5.097274148598587e-09,-1.53284039227294e-08,1.3923984975775691e-08,-1.441213391806957e-10,1.383908527081917e-10],"linkage_position_rad":[0.002933611168593807,0.0001563015520588713,0.003193479475991571,-0.003429298940412466,0.0029336110745855457,0.00015630111453447651,0.0031978493801868265,-0.0034379968892940265],"tcp_position_m":[0.07433918936512926,0.5047373576214539,0.43499999932524647],"tcp_quaternion_wxyz":[-1.547186880612558e-10,0.7071067812019177,0.707106781171177,3.536896167148739e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,-6.196341860232702e-19,3.311364157893976e-18,-2.2124553178083374e-07],"object_linear_velocity_m_s":[-6.08138388302297e-18,-1.665948869280126e-18,1.1638767768863822e-14],"object_angular_velocity_rad_s":[4.056245962465289e-16,-2.254389991676217e-16,-7.551875369347931e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221262418,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155594015,-1.5485669366857422,1.2616190687138553,-1.309660818952068,-1.570795077130092,-0.4120003887645744,0.0],"actuator_force":[6.949449016246945e-09,-21.685375198506335,-20.28595080346031,-2.413348547566443,0.0006248317761219369,-1.3818635125062428e-10,-0.2933611119826494],"issued_joint_targets_rad":[-1.9827967155592137,-1.5377242490877365,1.271762044148465,-1.3048341218721506,-1.5707963267930871,-0.4120003887643809],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.91999999999717,"joint_targets_rad":[-1.9827967155592137,-1.5377242490877365,1.271762044148465,-1.3048341218721506,-1.5707963267930871,-0.4120003887643809],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.939999999997159,"qpos":[-1.9827967156238526,-1.5377242500090207,1.2717620468901414,-1.3048341243771118,-1.57079632676748,-0.41200038878933204,0.0029336111729333283,0.00015630157298166886,0.0031934794551980758,-0.003429298940976677,0.0029336110712431707,0.00015630110123398294,0.003197849393307768,-0.0034379968888882183,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,-4.468847297776901e-18,1.2604359582921912e-17,-2.2168150935516796e-07],"qvel":[3.1121078518519187e-10,4.620445277700612e-09,-1.3869050093096201e-08,1.2611018225190636e-08,-1.2488191621865654e-10,1.260192725807028e-10,9.520696301164025e-10,4.5090945271891856e-09,-4.484017771307666e-09,-2.606305891426931e-10,-8.71811874291205e-10,-2.910041480146148e-09,2.7697204276189146e-09,2.444860077194305e-10,-1.8708382010471455e-17,-5.556353550091774e-18,1.1748402292545554e-14,-2.040941984615593e-16,5.290792847510197e-16,-3.035616932235282e-08],"joint_position_rad":[-1.9827967156238526,-1.5377242500090207,1.2717620468901414,-1.3048341243771118,-1.57079632676748,-0.41200038878933204],"joint_velocity_rad_s":[3.1121078518519187e-10,4.620445277700612e-09,-1.3869050093096201e-08,1.2611018225190636e-08,-1.2488191621865654e-10,1.260192725807028e-10],"linkage_position_rad":[0.0029336111729333283,0.00015630157298166886,0.0031934794551980758,-0.003429298940976677,0.0029336110712431707,0.00015630110123398294,0.003197849393307768,-0.0034379968888882183],"tcp_position_m":[0.07433918936373554,0.5047373576245484,0.434999999390293],"tcp_quaternion_wxyz":[-1.4063659214395664e-10,0.7071067812005567,0.7071067811725378,3.213915660375172e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,-4.468847297776901e-18,1.2604359582921912e-17,-2.2168150935516796e-07],"object_linear_velocity_m_s":[-1.8708382010471455e-17,-5.556353550091774e-18,1.1748402292545554e-14],"object_angular_velocity_rad_s":[-2.040939646525907e-16,5.290793749674737e-16,-3.035616932235283e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221323785,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155592137,-1.5485669366855068,1.2616190687113824,-1.30966081894886,-1.5707950771302892,-0.41200038876438,0.0],"actuator_force":[4.793491825694218e-09,-21.68537520115069,-20.285950809898168,-2.413348546976067,0.0006248310835417215,-1.2590817277668975e-10,-0.2933611126101137],"issued_joint_targets_rad":[-1.9827967155590436,-1.537724249086142,1.2717620441457436,-1.3048341218694588,-1.5707963267932574,-0.4120003887642046],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.939999999997159,"joint_targets_rad":[-1.9827967155590436,-1.537724249086142,1.2717620441457436,-1.3048341218694588,-1.5707963267932574,-0.4120003887642046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.959999999997148,"qpos":[-1.9827967156179447,-1.537724249921166,1.2717620466267001,-1.3048341241375314,-1.570796326769939,-0.41200038878692447,0.0029336111705536012,0.00015630156109395913,0.0031934794671122516,-0.003429298940680928,0.002933611073648175,0.00015630110884331516,0.0031978493862361234,-0.003437996889543011,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,-3.171737911070781e-18,1.1661825170985668e-17,-2.2179661073950458e-07],"qvel":[2.841061612403751e-10,4.188079611199471e-09,-1.2549954601435127e-08,1.1420027544418452e-08,-1.097653045609273e-10,1.1475515687247844e-10,6.193090940216194e-10,3.658292682369566e-09,-3.457886793177469e-09,-3.454833747853202e-10,-4.380918497784424e-10,-2.365283246611512e-09,2.2709422988801475e-09,1.7431203220630063e-10,-1.2948643160142301e-17,-4.1008209823026655e-18,1.1627665538617568e-14,2.1249791473039528e-16,-4.039482805400907e-16,-3.2850666619853097e-09],"joint_position_rad":[-1.9827967156179447,-1.537724249921166,1.2717620466267001,-1.3048341241375314,-1.570796326769939,-0.41200038878692447],"joint_velocity_rad_s":[2.841061612403751e-10,4.188079611199471e-09,-1.2549954601435127e-08,1.1420027544418452e-08,-1.097653045609273e-10,1.1475515687247844e-10],"linkage_position_rad":[0.0029336111705536012,0.00015630156109395913,0.0031934794671122516,-0.003429298940680928,0.002933611073648175,0.00015630110884331516,0.0031978493862361234,-0.003437996889543011],"tcp_position_m":[0.07433918936247394,0.5047373576273539,0.434999999449069],"tcp_quaternion_wxyz":[-1.2782014321581756e-10,0.7071067811993191,0.7071067811737756,2.920479595198847e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,-3.171737911070781e-18,1.1661825170985668e-17,-2.2179661073950458e-07],"object_linear_velocity_m_s":[-1.2948643160142301e-17,-4.1008209823026655e-18,1.1627665538617568e-14],"object_angular_velocity_rad_s":[2.1249773546503564e-16,-4.039483748235244e-16,-3.2850666619853113e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221286668,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155590436,-1.5485669366852965,1.261619068709144,-1.3096608189459549,-1.5707950771304675,-0.41200038876420375,0.0],"actuator_force":[4.160028765909374e-09,-21.68537520349264,-20.28595081513049,-2.4133485462143653,0.0006248307123541963,-1.1516476661199704e-10,-0.293361113116175],"issued_joint_targets_rad":[-1.9827967155588893,-1.5377242490846978,1.2717620441432795,-1.3048341218670223,-1.5707963267934117,-0.41200038876404554],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.959999999997148,"joint_targets_rad":[-1.9827967155588893,-1.5377242490846978,1.2717620441432795,-1.3048341218670223,-1.5707963267934117,-0.41200038876404554],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.979999999997137,"qpos":[-1.9827967156125597,-1.5377242498415324,1.2717620463883126,-1.30483412392061,-1.5707963267721874,-0.4120003887847323,0.0029336111685842672,0.00015630155096696738,0.0031934794775015742,-0.003429298940771555,0.0029336110754113486,0.00015630111522884333,0.0031978493798861074,-0.0034379968897647645,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,6.2880669272074436e-18,1.7381798525899992e-17,-2.2225928218749243e-07],"qvel":[2.573703667775795e-10,3.796117099309009e-09,-1.1357197765039088e-08,1.0339349629297667e-08,-1.0022421012658685e-10,1.044890936717866e-10,-2.464187979715154e-10,-8.059260923093548e-10,9.72485617264591e-10,-2.900029871252127e-11,4.4428173300938956e-10,4.837002880439407e-10,-3.2066663792971925e-10,-1.3910080858878444e-10,-2.0215860851229587e-17,6.979569057846827e-18,1.1859424595008068e-14,-3.9814211572625966e-17,-7.006301538787018e-16,-1.3204937177751414e-08],"joint_position_rad":[-1.9827967156125597,-1.5377242498415324,1.2717620463883126,-1.30483412392061,-1.5707963267721874,-0.4120003887847323],"joint_velocity_rad_s":[2.573703667775795e-10,3.796117099309009e-09,-1.1357197765039088e-08,1.0339349629297667e-08,-1.0022421012658685e-10,1.044890936717866e-10],"linkage_position_rad":[0.0029336111685842672,0.00015630155096696738,0.0031934794775015742,-0.003429298940771555,0.0029336110754113486,0.00015630111522884333,0.0031978493798861074,-0.0034379968897647645],"tcp_position_m":[0.07433918936131978,0.5047373576298969,0.43499999950217655],"tcp_quaternion_wxyz":[-1.161642682548385e-10,0.70710678119819,0.7071067811749044,2.653785445784283e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,6.2880669272074436e-18,1.7381798525899992e-17,-2.2225928218749243e-07],"object_linear_velocity_m_s":[-2.0215860851229587e-17,6.979569057846827e-18,1.1859424595008068e-14],"object_angular_velocity_rad_s":[-3.981452347478329e-17,-7.006301360144097e-16,-1.320493717775142e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221255744,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155588893,-1.548566936685108,1.261619068707117,-1.3096608189433245,-1.5707950771306292,-0.4120003887640448,0.0],"actuator_force":[4.392859409563243e-09,-21.68537520559812,-20.285950819512436,-2.4133485452922514,0.0006248308014846771,-1.0518874660192523e-10,-0.29336111318909547],"issued_joint_targets_rad":[-1.9827967155587496,-1.5377242490833916,1.2717620441410502,-1.304834121864817,-1.5707963267935514,-0.41200038876390144],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.979999999997137,"joint_targets_rad":[-1.9827967155587496,-1.5377242490833916,1.2717620441410502,-1.304834121864817,-1.5707963267935514,-0.41200038876390144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.999999999997126,"qpos":[-1.9827967156076485,-1.5377242497693522,1.2717620461725971,-1.3048341237241972,-1.5707963267742264,-0.41200038878273637,0.0029336111705608784,0.0001563015579773815,0.003193479469604738,-0.0034292989400513327,0.0029336110733810174,0.00015630111094164435,0.0031978493841636384,-0.0034379968898573922,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,4.51763644599495e-18,3.4117532054951136e-17,-2.2262422253081358e-07],"qvel":[2.2778541850515478e-10,3.440872338549096e-09,-1.0279005936795668e-08,9.346765198518647e-09,-1.2698150471852504e-10,9.509936064863946e-11,-2.561306901498373e-09,-1.4722636381943564e-08,1.3805786895749934e-08,1.2697164566542788e-09,1.7608746237970149e-09,9.519241322278541e-09,-9.122232258253033e-09,-6.845801512579453e-10,-6.952366436410113e-17,7.327758380690626e-18,1.1717871159368362e-14,-3.140716096053791e-16,3.1116281554713578e-15,-5.3079703948283624e-08],"joint_position_rad":[-1.9827967156076485,-1.5377242497693522,1.2717620461725971,-1.3048341237241972,-1.5707963267742264,-0.41200038878273637],"joint_velocity_rad_s":[2.2778541850515478e-10,3.440872338549096e-09,-1.0279005936795668e-08,9.346765198518647e-09,-1.2698150471852504e-10,9.509936064863946e-11],"linkage_position_rad":[0.0029336111705608784,0.0001563015579773815,0.003193479469604738,-0.0034292989400513327,0.0029336110733810174,0.00015630111094164435,0.0031978493841636384,-0.0034379968898573922],"tcp_position_m":[0.07433918936025796,0.5047373576322017,0.4349999995501619],"tcp_quaternion_wxyz":[-1.0557053292806752e-10,0.7071067811971594,0.7071067811759353,2.4113325435209476e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,4.51763644599495e-18,3.4117532054951136e-17,-2.2262422253081358e-07],"object_linear_velocity_m_s":[-6.952366436410113e-17,7.327758380690626e-18,1.1717871159368362e-14],"object_angular_velocity_rad_s":[-3.140702277796472e-16,3.111628295790538e-15,-5.307970394828366e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221282226,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155587496,-1.5485669366849406,1.2616190687052828,-1.3096608189409433,-1.5707950771307762,-0.41200038876390077,0.0],"actuator_force":[6.683421815978363e-09,-21.685375207525794,-20.28595082302627,-2.413348543049665,0.0006248344232062664,-9.214318197336979e-11,-0.29336110819493344],"issued_joint_targets_rad":[-1.982796715558623,-1.5377242490822076,1.2717620441390307,-1.3048341218628199,-1.5707963267936782,-0.41200038876377054],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.999999999997126,"joint_targets_rad":[-1.982796715558623,-1.5377242490822076,1.2717620441390307,-1.3048341218628199,-1.5707963267936782,-0.41200038876377054],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.019999999997115,"qpos":[-1.9827967156031687,-1.5377242497039267,1.271762045977397,-1.3048341235463454,-1.5707963267760516,-0.4120003887809192,0.0029336111715398436,0.00015630156520829964,0.003193479463460273,-0.0034292989413638054,0.002933611073301928,0.00015630110620610301,0.0031978493888508673,-0.00343799688954571,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,1.8780029974735686e-18,3.542450271416081e-17,-2.2282548466437688e-07],"qvel":[2.1558477827846174e-10,3.118877714721721e-09,-9.298911961577007e-09,8.477210889228237e-09,-8.287638959166513e-11,8.66141927969659e-11,8.478884098873764e-10,4.504926944081092e-09,-4.355467727949519e-09,-3.6388633762426485e-10,-7.179883113114201e-10,-2.9051119419250983e-09,2.7444970937693184e-09,2.539744524376691e-10,-3.967090415833756e-17,2.522837959234922e-18,1.1569378829824746e-14,-2.515637620878008e-16,-1.2317923869383184e-15,-5.744149204624914e-09],"joint_position_rad":[-1.9827967156031687,-1.5377242497039267,1.271762045977397,-1.3048341235463454,-1.5707963267760516,-0.4120003887809192],"joint_velocity_rad_s":[2.1558477827846174e-10,3.118877714721721e-09,-9.298911961577007e-09,8.477210889228237e-09,-8.287638959166513e-11,8.66141927969659e-11],"linkage_position_rad":[0.0029336111715398436,0.00015630156520829964,0.003193479463460273,-0.0034292989413638054,0.002933611073301928,0.00015630110620610301,0.0031978493888508673,-0.00343799688954571],"tcp_position_m":[0.0743391893592743,0.5047373576342918,0.43499999959351776],"tcp_quaternion_wxyz":[-9.595203555822972e-11,0.7071067811962182,0.7071067811768763,2.190841075581885e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,1.8780029974735686e-18,3.542450271416081e-17,-2.2282548466437688e-07],"object_linear_velocity_m_s":[-3.967090415833756e-17,2.522837959234922e-18,1.1569378829824746e-14],"object_angular_velocity_rad_s":[-2.515643114442146e-16,-1.2317922748069875e-15,-5.744149204624919e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221297293,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715558623,-1.5485669366847896,1.2616190687036208,-1.309660818938786,-1.5707950771309087,-0.41200038876376993,0.0],"actuator_force":[2.8576323529705405e-09,-21.685375209277026,-20.285950827988017,-2.4133485439414244,0.0006248308591239038,-8.679990060045384e-11,-0.2933611128915891],"issued_joint_targets_rad":[-1.9827967155585087,-1.5377242490811365,1.2717620441372026,-1.3048341218610124,-1.5707963267937928,-0.41200038876365236],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.019999999997115,"joint_targets_rad":[-1.9827967155585087,-1.5377242490811365,1.2717620441372026,-1.3048341218610124,-1.5707963267937928,-0.41200038876365236],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.039999999997104,"qpos":[-1.9827967155990947,-1.537724249644625,1.2717620458007572,-1.304834123385329,-1.570796326777751,-0.41200038877926476,0.0029336111689837584,0.00015630155271000167,0.0031934794762901097,-0.003429298941341748,0.0029336110757014595,0.0001563011140857346,0.0031978493811810654,-0.003437996889937891,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,-4.1640516879504955e-18,2.6333972880093082e-17,-2.2325804553454116e-07],"qvel":[1.9619423716306003e-10,2.8268922497645677e-09,-8.414830603730638e-09,7.676632076127879e-09,-7.195861262668621e-11,7.886122442603395e-11,2.983506840109604e-10,2.217018570526484e-09,-1.9770607749026996e-09,-2.706997119538829e-10,-6.66286302374557e-11,-1.4438525170038164e-09,1.4536815806471459e-09,5.506879341660442e-11,-3.9329917832381364e-17,-5.474698505225178e-18,1.1294598631230018e-14,-2.1459244332194988e-16,-1.4209960940498728e-15,-2.3089677376825705e-08],"joint_position_rad":[-1.9827967155990947,-1.537724249644625,1.2717620458007572,-1.304834123385329,-1.570796326777751,-0.41200038877926476],"joint_velocity_rad_s":[1.9619423716306003e-10,2.8268922497645677e-09,-8.414830603730638e-09,7.676632076127879e-09,-7.195861262668621e-11,7.886122442603395e-11],"linkage_position_rad":[0.0029336111689837584,0.00015630155271000167,0.0031934794762901097,-0.003429298941341748,0.0029336110757014595,0.0001563011140857346,0.0031978493811810654,-0.003437996889937891],"tcp_position_m":[0.07433918935838778,0.5047373576361861,0.43499999963269587],"tcp_quaternion_wxyz":[-8.719435110769008e-11,0.7071067811953625,0.707106781177732,1.990597516480717e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,-4.1640516879504955e-18,2.6333972880093082e-17,-2.2325804553454116e-07],"object_linear_velocity_m_s":[-3.9329917832381364e-17,-5.474698505225178e-18,1.1294598631230018e-14],"object_angular_velocity_rad_s":[-2.1459307903563595e-16,-1.4209959984230465e-15,-2.3089677376825725e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221257694,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155585087,-1.5485669366846553,1.2616190687021163,-1.3096608189368328,-1.5707950771310286,-0.4120003887636518,0.0],"actuator_force":[2.6943780540023e-09,-21.685375210817256,-20.285950831349965,-2.413348543415168,0.0006248305569442891,-7.963762982399203e-11,-0.2933611133928712],"issued_joint_targets_rad":[-1.982796715558405,-1.5377242490801664,1.2717620441355482,-1.304834121859376,-1.5707963267938967,-0.41200038876354467],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.039999999997104,"joint_targets_rad":[-1.982796715558405,-1.5377242490801664,1.2717620441355482,-1.304834121859376,-1.5707963267938967,-0.41200038876354467],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.059999999997093,"qpos":[-1.9827967155953812,-1.5377242495908743,1.2717620456409153,-1.3048341232395413,-1.570796326779305,-0.4120003887777585,0.0029336111694274855,0.0001563015509862111,0.0031934794767201746,-0.0034292989398935353,0.0029336110748851402,0.00015630111538518827,0.003197849380231351,-0.0034379968904876463,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,-5.7706488656857804e-18,1.9942079245079372e-17,-2.2344121948823257e-07],"qvel":[1.7500062698078071e-10,2.5622345558785004e-09,-7.616088838361727e-09,6.9453483089077985e-09,-7.658203296744857e-11,7.178871026594411e-11,-1.2255108322744042e-09,-6.561998672567505e-09,6.415130747838233e-09,4.2554967207391217e-10,1.1849416564789277e-09,4.180097692010054e-09,-3.78522560046957e-09,-4.195354896754411e-10,-6.422323757946642e-17,-2.161804451097062e-17,1.1178025213644378e-14,-1.1737422099626808e-15,3.3023695759798182e-15,-9.28132578690423e-08],"joint_position_rad":[-1.9827967155953812,-1.5377242495908743,1.2717620456409153,-1.3048341232395413,-1.570796326779305,-0.4120003887777585],"joint_velocity_rad_s":[1.7500062698078071e-10,2.5622345558785004e-09,-7.616088838361727e-09,6.9453483089077985e-09,-7.658203296744857e-11,7.178871026594411e-11],"linkage_position_rad":[0.0029336111694274855,0.0001563015509862111,0.0031934794767201746,-0.0034292989398935353,0.0029336110748851402,0.00015630111538518827,0.003197849380231351,-0.0034379968904876463],"tcp_position_m":[0.07433918935757709,0.5047373576379035,0.4349999996680963],"tcp_quaternion_wxyz":[-7.923055952227465e-11,0.7071067811945823,0.7071067811785124,1.8086259882404092e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,-5.7706488656857804e-18,1.9942079245079372e-17,-2.2344121948823257e-07],"object_linear_velocity_m_s":[-6.422323757946642e-17,-2.161804451097062e-17,1.1178025213644378e-14],"object_angular_velocity_rad_s":[-1.1737407378933733e-15,3.3023700994330887e-15,-9.28132578690424e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221258658,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715558405,-1.548566936684535,1.2616190687007545,-1.3096608189350643,-1.5707950771311379,-0.41200038876354417,0.0],"actuator_force":[3.95220922655426e-09,-21.68537521221515,-20.28595083388609,-2.413348542296376,0.0006248317417885119,-7.167955118347891e-11,-0.2933611120127854],"issued_joint_targets_rad":[-1.9827967155583108,-1.5377242490792893,1.2717620441340511,-1.304834121857895,-1.5707963267939908,-0.41200038876344713],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.059999999997093,"joint_targets_rad":[-1.9827967155583108,-1.5377242490792893,1.2717620441340511,-1.304834121857895,-1.5707963267939908,-0.41200038876344713],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.079999999997082,"qpos":[-1.9827967155919852,-1.5377242495421557,1.2717620454962786,-1.3048341231075182,-1.57079632678067,-0.4120003887763873,0.002933611172614058,0.0001563015696763595,0.0031934794593249573,-0.0034292989419537736,0.002933611072688073,0.00015630110331630033,0.003197849391654212,-0.003437996889441026,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,-7.783540526333973e-18,2.4795622839923865e-17,-2.2379313920353243e-07],"qvel":[1.633966050579241e-10,2.3224538063498937e-09,-6.89016194100485e-09,6.292467481262233e-09,-6.303754704304915e-11,6.53561312276691e-11,9.969105563170346e-10,4.8486192214370145e-09,-4.768175721260683e-09,-3.302491187675572e-10,-9.139293356023747e-10,-3.1233649647115348e-09,2.934630884511964e-09,2.916596868601983e-10,-2.8989108123908134e-17,-8.66195232151476e-18,1.117247409852125e-14,2.732092706117537e-16,-7.59023811758933e-16,-1.0044012338251622e-08],"joint_position_rad":[-1.9827967155919852,-1.5377242495421557,1.2717620454962786,-1.3048341231075182,-1.57079632678067,-0.4120003887763873],"joint_velocity_rad_s":[1.633966050579241e-10,2.3224538063498937e-09,-6.89016194100485e-09,6.292467481262233e-09,-6.303754704304915e-11,6.53561312276691e-11],"linkage_position_rad":[0.002933611172614058,0.0001563015696763595,0.0031934794593249573,-0.0034292989419537736,0.002933611072688073,0.00015630110331630033,0.003197849391654212,-0.003437996889441026],"tcp_position_m":[0.07433918935681408,0.5047373576394598,0.4349999997000793],"tcp_quaternion_wxyz":[-7.200991187689391e-11,0.7071067811938664,0.7071067811792281,1.6430309477147316e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,-7.783540526333973e-18,2.4795622839923865e-17,-2.2379313920353243e-07],"object_linear_velocity_m_s":[-2.8989108123908134e-17,-8.66195232151476e-18,1.117247409852125e-14],"object_angular_velocity_rad_s":[2.7320893038498843e-16,-7.590239341999344e-16,-1.0044012338251635e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221309559,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155583108,-1.5485669366844286,1.2616190686995221,-1.309660818933463,-1.570795077131237,-0.4120003887634467,0.0],"actuator_force":[1.9904291548300534e-09,-21.685375213527095,-20.285950837448127,-2.4133485422191825,0.0006248310202181528,-6.5284666561638e-11,-0.29336111268001264],"issued_joint_targets_rad":[-1.9827967155582258,-1.5377242490784935,1.2717620441326938,-1.3048341218565531,-1.5707963267940763,-0.4120003887633598],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.079999999997082,"joint_targets_rad":[-1.9827967155582258,-1.5377242490784935,1.2717620441326938,-1.3048341218565531,-1.5707963267940763,-0.4120003887633598],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.09999999999707,"qpos":[-1.9827967155889037,-1.5377242494979984,1.271762045365391,-1.3048341229879996,-1.5707963267819531,-0.41200038877513906,0.0029336111696870253,0.00015630155622497644,0.0031934794732241386,-0.003429298941959059,0.002933611075530337,0.00015630111184386302,0.003197849383380303,-0.0034379968899123136,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,-1.3735994252718526e-18,1.0460637638172627e-17,-2.241719596634769e-07],"qvel":[1.493654174401092e-10,2.1049796307687102e-09,-6.234832862550607e-09,5.699088979382622e-09,-5.30661255781549e-11,5.94992054384e-11,6.68255664126104e-10,3.983112650161005e-09,-3.758113502376887e-09,-3.779340623421357e-10,-4.749666935361774e-10,-2.5647207028483336e-09,2.4558934552607357e-09,1.943624054987852e-10,-8.581771305168931e-18,1.8452059887202218e-18,1.1097534044359053e-14,5.355202879561087e-16,-1.3683339146839752e-15,-4.0373777943074036e-08],"joint_position_rad":[-1.9827967155889037,-1.5377242494979984,1.271762045365391,-1.3048341229879996,-1.5707963267819531,-0.41200038877513906],"joint_velocity_rad_s":[1.493654174401092e-10,2.1049796307687102e-09,-6.234832862550607e-09,5.699088979382622e-09,-5.30661255781549e-11,5.94992054384e-11],"linkage_position_rad":[0.0029336111696870253,0.00015630155622497644,0.0031934794732241386,-0.003429298941959059,0.002933611075530337,0.00015630111184386302,0.003197849383380303,-0.0034379968899123136],"tcp_position_m":[0.07433918935613347,0.504737357640871,0.4349999997289826],"tcp_quaternion_wxyz":[-6.543233142247049e-11,0.7071067811932183,0.7071067811798764,1.4927272018428996e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,-1.3735994252718526e-18,1.0460637638172627e-17,-2.241719596634769e-07],"object_linear_velocity_m_s":[-8.581771305168931e-18,1.8452059887202218e-18,1.1097534044359053e-14],"object_angular_velocity_rad_s":[5.355196736271945e-16,-1.3683341548920189e-15,-4.037377794307409e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221266645,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155582258,-1.5485669366843318,1.2616190686984043,-1.3096608189320118,-1.5707950771313262,-0.41200038876335937,0.0],"actuator_force":[1.609805622138083e-09,-21.68537521465896,-20.285950840040186,-2.41334854191507,0.0006248306200404841,-6.005507202644367e-11,-0.29336111322731295],"issued_joint_targets_rad":[-1.982796715558149,-1.537724249077775,1.271762044131468,-1.3048341218553394,-1.5707963267941536,-0.41200038876327977],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.09999999999707,"joint_targets_rad":[-1.982796715558149,-1.537724249077775,1.271762044131468,-1.3048341218553394,-1.5707963267941536,-0.41200038876327977],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.11999999999706,"qpos":[-1.9827967155860975,-1.5377242494579755,1.2717620452469498,-1.304834122879788,-1.5707963267831322,-0.4120003887740027,0.0029336111690840836,0.0001563015492273157,0.0031934794788540904,-0.0034292989401721367,0.002933611075740959,0.0001563011165174445,0.00319784937937333,-0.0034379968907935774,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,5.320994744411598e-19,3.652640692640996e-18,-2.2432504478046904e-07],"qvel":[1.3445040077554514e-10,1.9078173853102485e-09,-5.6427328291630645e-09,5.159348410235714e-09,-4.8564010939580654e-11,5.4166866458902865e-11,-3.651463635798441e-10,-1.288691552296017e-09,1.4678109055857757e-09,-6.848616077510708e-11,5.742617205336171e-10,7.856243880554957e-10,-5.713145599220159e-10,-1.5579108398019863e-10,-5.187579917857833e-18,-1.0057011529891166e-19,1.096569506018482e-14,-6.470618023996246e-17,-1.8412120331306422e-16,-4.369146532646006e-09],"joint_position_rad":[-1.9827967155860975,-1.5377242494579755,1.2717620452469498,-1.304834122879788,-1.5707963267831322,-0.4120003887740027],"joint_velocity_rad_s":[1.3445040077554514e-10,1.9078173853102485e-09,-5.6427328291630645e-09,5.159348410235714e-09,-4.8564010939580654e-11,5.4166866458902865e-11],"linkage_position_rad":[0.0029336111690840836,0.0001563015492273157,0.0031934794788540904,-0.0034292989401721367,0.002933611075740959,0.0001563011165174445,0.00319784937937333,-0.0034379968907935774],"tcp_position_m":[0.07433918935551384,0.5047373576421498,0.43499999975510006],"tcp_quaternion_wxyz":[-5.944950049769142e-11,0.7071067811926278,0.7071067811804669,1.3561747241656263e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,5.320994744411598e-19,3.652640692640996e-18,-2.2432504478046904e-07],"object_linear_velocity_m_s":[-5.187579917857833e-18,-1.0057011529891166e-19,1.096569506018482e-14],"object_angular_velocity_rad_s":[-6.470626287786825e-17,-1.8412117427796277e-16,-4.369146532646013e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221250601,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715558149,-1.5485669366842472,1.2616190686973954,-1.3096608189306989,-1.5707950771314074,-0.4120003887632794,0.0],"actuator_force":[2.1168489183764905e-09,-21.68537521567032,-20.285950842016064,-2.4133485413904054,0.0006248307187206592,-5.502442945726216e-11,-0.2933611132868289],"issued_joint_targets_rad":[-1.9827967155580788,-1.537724249077123,1.271762044130356,-1.3048341218542405,-1.5707963267942238,-0.41200038876320727],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.11999999999706,"joint_targets_rad":[-1.9827967155580788,-1.537724249077123,1.271762044130356,-1.3048341218542405,-1.5707963267942238,-0.41200038876320727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.139999999997048,"qpos":[-1.9827967155835347,-1.5377242494217003,1.2717620451397744,-1.3048341227818034,-1.570796326784194,-0.41200038877296824,0.002933611169826879,0.00015630155326203904,0.0031934794749667998,-0.0034292989408254613,0.002933611074873564,0.00015630111392071815,0.0031978493815125447,-0.0034379968902766124,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,2.7333037990193877e-17,-6.643712109040036e-18,-2.2474996343832795e-07],"qvel":[1.1510074857302601e-10,1.72919683667817e-09,-5.108234374896959e-09,4.655286459800602e-09,-8.298903323242609e-11,4.926821465845059e-11,-2.81621420651877e-09,-1.608257600434771e-08,1.5109182503331003e-08,1.3337949957953156e-09,1.936626577683437e-09,1.0355623650374514e-08,-9.941867268901532e-09,-7.142718150284786e-10,6.8096872160766065e-18,3.307752930909625e-17,1.0939327263349973e-14,4.2643283026927954e-16,-4.528421866440398e-16,-1.7562598090203342e-08],"joint_position_rad":[-1.9827967155835347,-1.5377242494217003,1.2717620451397744,-1.3048341227818034,-1.570796326784194,-0.41200038877296824],"joint_velocity_rad_s":[1.1510074857302601e-10,1.72919683667817e-09,-5.108234374896959e-09,4.655286459800602e-09,-8.298903323242609e-11,4.926821465845059e-11],"linkage_position_rad":[0.002933611169826879,0.00015630155326203904,0.0031934794749667998,-0.0034292989408254613,0.002933611074873564,0.00015630111392071815,0.0031978493815125447,-0.0034379968902766124],"tcp_position_m":[0.07433918935493979,0.5047373576433085,0.4349999997786974],"tcp_quaternion_wxyz":[-5.401511670118233e-11,0.7071067811920875,0.7071067811810072,1.2320192927289347e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,2.7333037990193877e-17,-6.643712109040036e-18,-2.2474996343832795e-07],"object_linear_velocity_m_s":[6.8096872160766065e-18,3.307752930909625e-17,1.0939327263349973e-14],"object_angular_velocity_rad_s":[4.264326269500693e-16,-4.528423773654427e-16,-1.7562598090203368e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221264938,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155580788,-1.5485669366841703,1.2616190686964792,-1.30966081892951,-1.5707950771314816,-0.41200038876320694,0.0],"actuator_force":[4.871253622695804e-09,-21.685375216618922,-20.285950843297087,-2.4133485393819,0.0006248346551274153,-4.618527782440651e-11,-0.293361107837084],"issued_joint_targets_rad":[-1.9827967155580153,-1.5377242490765328,1.2717620441293491,-1.3048341218532455,-1.570796326794287,-0.4120003887631419],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.139999999997048,"joint_targets_rad":[-1.9827967155580153,-1.5377242490765328,1.2717620441293491,-1.3048341218532455,-1.570796326794287,-0.4120003887631419],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.159999999997037,"qpos":[-1.9827967155811959,-1.5377242493888215,1.2717620450427907,-1.3048341226930718,-1.570796326785127,-0.4120003887720267,0.0029336111705968275,0.00015630156069338397,0.0031934794691226643,-0.0034292989425475334,0.0029336110750089934,0.00015630110901391448,0.003197849386080496,-0.0034379968897394683,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,2.768383544404302e-17,-1.8732381573503276e-17,-2.250337220576339e-07],"qvel":[1.1353977805143448e-10,1.5673117161086852e-09,-4.619686464327774e-09,4.230602437885247e-09,-3.998458538396654e-11,4.487751837388443e-11,9.1882748028948e-10,4.908951621299446e-09,-4.740697558493893e-09,-3.981293221159069e-10,-7.804397669527619e-10,-3.154964865400838e-09,2.9740814100714866e-09,2.8021573405612924e-10,7.105756955023457e-17,4.9225182911155554e-17,1.0847733863818398e-14,9.65409275153581e-16,-3.977189276810038e-15,-7.059613344926969e-08],"joint_position_rad":[-1.9827967155811959,-1.5377242493888215,1.2717620450427907,-1.3048341226930718,-1.570796326785127,-0.4120003887720267],"joint_velocity_rad_s":[1.1353977805143448e-10,1.5673117161086852e-09,-4.619686464327774e-09,4.230602437885247e-09,-3.998458538396654e-11,4.487751837388443e-11],"linkage_position_rad":[0.0029336111705968275,0.00015630156069338397,0.0031934794691226643,-0.0034292989425475334,0.0029336110750089934,0.00015630110901391448,0.003197849386080496,-0.0034379968897394683],"tcp_position_m":[0.07433918935440306,0.5047373576443592,0.4349999998000187],"tcp_quaternion_wxyz":[-4.908899842566177e-11,0.7071067811915933,0.7071067811815009,1.1190741221821417e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,2.768383544404302e-17,-1.8732381573503276e-17,-2.250337220576339e-07],"object_linear_velocity_m_s":[7.105756955023457e-17,4.9225182911155554e-17,1.0847733863818398e-14],"object_angular_velocity_rad_s":[9.654074877949408e-16,-3.9771897074001845e-15,-7.059613344926981e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322127921,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155580153,-1.5485669366841015,1.2616190686956497,-1.309660818928433,-1.5707950771315475,-0.41200038876314155,0.0],"actuator_force":[9.45419742492959e-10,-21.68537521748476,-20.28595084640756,-2.413348540740799,0.0006248307882970039,-4.516209628491197e-11,-0.2933611129722296],"issued_joint_targets_rad":[-1.9827967155579584,-1.537724249075999,1.2717620441284394,-1.3048341218523452,-1.5707963267943443,-0.4120003887630825],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.159999999997037,"joint_targets_rad":[-1.9827967155579584,-1.537724249075999,1.2717620441284394,-1.3048341218523452,-1.5707963267943443,-0.4120003887630825],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.179999999997026,"qpos":[-1.982796715579075,-1.5377242493590224,1.2717620449550258,-1.3048341226127511,-1.5707963267860192,-0.4120003887711697,0.00293361116926928,0.0001563015507060813,0.0031934794778377875,-0.0034292989406859336,0.0029336110760246987,0.00015630111555304488,0.0031978493804291496,-0.003437996890831726,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,2.3698532117059474e-17,-2.5829975111916893e-17,-2.2530140117756946e-07],"qvel":[1.0317591659950166e-10,1.420458456141545e-09,-4.180628969411715e-09,3.831690312451193e-09,-3.260810343142452e-11,4.085504523177993e-11,2.1139151850761075e-10,1.995889201049705e-09,-1.706597481181999e-09,-3.4203294202081084e-10,3.523926735737152e-11,-1.3137683467836461e-09,1.3369173956588662e-09,6.083497605607061e-11,3.059590617862677e-17,2.817217788237816e-17,1.07949982701487e-14,-9.67738366063245e-16,7.717863738823739e-16,-7.63973220720104e-09],"joint_position_rad":[-1.982796715579075,-1.5377242493590224,1.2717620449550258,-1.3048341226127511,-1.5707963267860192,-0.4120003887711697],"joint_velocity_rad_s":[1.0317591659950166e-10,1.420458456141545e-09,-4.180628969411715e-09,3.831690312451193e-09,-3.260810343142452e-11,4.085504523177993e-11],"linkage_position_rad":[0.00293361116926928,0.0001563015507060813,0.0031934794778377875,-0.0034292989406859336,0.0029336110760246987,0.00015630111555304488,0.0031978493804291496,-0.003437996890831726],"tcp_position_m":[0.07433918935392896,0.5047373576453117,0.43499999981928783],"tcp_quaternion_wxyz":[-4.45964754618213e-11,0.7071067811911467,0.707106781181948,1.0166311711667608e-10],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,2.3698532117059474e-17,-2.5829975111916893e-17,-2.2530140117756946e-07],"object_linear_velocity_m_s":[3.059590617862677e-17,2.817217788237816e-17,1.07949982701487e-14],"object_angular_velocity_rad_s":[-9.677380178993774e-16,7.7178681031001755e-16,-7.639732207201055e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221252227,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155579584,-1.5485669366840407,1.2616190686949005,-1.309660818927458,-1.5707950771316077,-0.4120003887630822,0.0],"actuator_force":[9.63154889177531e-10,-21.685375218219633,-20.28595084799872,-2.4133485405224064,0.0006248304664495663,-4.175149115326349e-11,-0.2933611134978529],"issued_joint_targets_rad":[-1.9827967155579063,-1.537724249075516,1.2717620441276152,-1.3048341218515296,-1.5707963267943963,-0.4120003887630285],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.179999999997026,"joint_targets_rad":[-1.9827967155579063,-1.537724249075516,1.2717620441276152,-1.3048341218515296,-1.5707963267943963,-0.4120003887630285],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.199999999997015,"qpos":[-1.982796715577141,-1.5377242493320147,1.271762044875608,-1.3048341225400262,-1.5707963267868348,-0.4120003887703895,0.0029336111684390275,0.00015630154558757915,0.003193479482680886,-0.0034292989405746714,0.0029336110764137994,0.00015630111879140983,0.003197849377101486,-0.003437996890798483,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999756,1.9163167132428094e-17,-2.888916794177654e-17,-2.256857212238623e-07],"qvel":[8.987061802345397e-11,1.287381155430024e-09,-3.784724666588636e-09,3.463537525507561e-09,-4.164561091405023e-11,3.717823050624775e-11,-1.359730761613019e-09,-7.191497636987927e-09,7.0690362944322575e-09,4.205161807760576e-10,1.3132042000995283e-09,4.560185103745974e-09,-4.152025467423778e-09,-4.333947455699306e-10,4.350741906953127e-17,2.3330896081678278e-17,1.0774181588436977e-14,-6.148537046711155e-16,2.634812190661467e-16,-3.0709326242400824e-08],"joint_position_rad":[-1.982796715577141,-1.5377242493320147,1.271762044875608,-1.3048341225400262,-1.5707963267868348,-0.4120003887703895],"joint_velocity_rad_s":[8.987061802345397e-11,1.287381155430024e-09,-3.784724666588636e-09,3.463537525507561e-09,-4.164561091405023e-11,3.717823050624775e-11],"linkage_position_rad":[0.0029336111684390275,0.00015630154558757915,0.003193479482680886,-0.0034292989405746714,0.0029336110764137994,0.00015630111879140983,0.003197849377101486,-0.003437996890798483],"tcp_position_m":[0.07433918935349454,0.5047373576461742,0.43499999983669924],"tcp_quaternion_wxyz":[-4.0511505443532713e-11,0.7071067811907389,0.7071067811823558,9.235419546409936e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999756,1.9163167132428094e-17,-2.888916794177654e-17,-2.256857212238623e-07],"object_linear_velocity_m_s":[4.350741906953127e-17,2.3330896081678278e-17,1.0774181588436977e-14],"object_angular_velocity_rad_s":[-6.148535839688222e-16,2.6348149777049944e-16,-3.070932624240088e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221239708,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155579063,-1.5485669366839865,1.2616190686942212,-1.3096608189265746,-1.5707950771316623,-0.41200038876302825,0.0],"actuator_force":[2.5215740606654435e-09,-21.685375218895842,-20.285950848883658,-2.413348539628032,0.000624831750769772,-3.717559593496844e-11,-0.2933611120100086],"issued_joint_targets_rad":[-1.9827967155578594,-1.537724249075078,1.2717620441268678,-1.304834121850791,-1.5707963267944431,-0.4120003887629804],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.199999999997015,"joint_targets_rad":[-1.9827967155578594,-1.537724249075078,1.2717620441268678,-1.304834121850791,-1.5707963267944431,-0.4120003887629804],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.219999999997004,"qpos":[-1.9827967155753674,-1.5377242493075367,1.2717620448037452,-1.3048341224741558,-1.570796326787524,-0.4120003887696796,0.0029336111716482378,0.00015630156556066302,0.0031934794645070196,-0.0034292989430791698,0.0029336110742315237,0.00015630110589039218,0.0031978493890300573,-0.003437996889495031,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,1.2599358060249376e-17,-2.1319723019857227e-17,-2.2580216167209552e-07],"qvel":[8.61380955411768e-11,1.1668957160342403e-09,-3.423034279146234e-09,3.1402530482007923e-09,-3.064220031034011e-11,3.383614987742656e-11,1.0823895559132916e-09,5.2851484050770865e-09,-5.191996710500625e-09,-3.6113729770878257e-10,-9.944393366581617e-10,-3.394416115605642e-09,3.183352897722676e-09,3.2071727803205056e-10,2.6971269677500094e-17,1.4753888950679187e-17,1.1441703181992853e-14,-4.561113600331699e-16,9.574016228651292e-16,-3.323284396645638e-09],"joint_position_rad":[-1.9827967155753674,-1.5377242493075367,1.2717620448037452,-1.3048341224741558,-1.570796326787524,-0.4120003887696796],"joint_velocity_rad_s":[8.61380955411768e-11,1.1668957160342403e-09,-3.423034279146234e-09,3.1402530482007923e-09,-3.064220031034011e-11,3.383614987742656e-11],"linkage_position_rad":[0.0029336111716482378,0.00015630156556066302,0.0031934794645070196,-0.0034292989430791698,0.0029336110742315237,0.00015630110589039218,0.0031978493890300573,-0.003437996889495031],"tcp_position_m":[0.0743391893530757,0.504737357646956,0.4349999998524283],"tcp_quaternion_wxyz":[-3.6818949587149526e-11,0.7071067811903625,0.7071067811827317,8.387375820343577e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,1.2599358060249376e-17,-2.1319723019857227e-17,-2.2580216167209552e-07],"object_linear_velocity_m_s":[2.6971269677500094e-17,1.4753888950679187e-17,1.1441703181992853e-14],"object_angular_velocity_rad_s":[-4.561109275247083e-16,9.574018289306361e-16,-3.3232843966456377e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221293428,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155578594,-1.5485669366839374,1.2616190686936053,-1.3096608189257746,-1.5707950771317118,-0.4120003887629802,0.0],"actuator_force":[5.607034836430103e-10,-21.685375219559774,-20.285950851066445,-2.4133485398347148,0.0006248309703096311,-3.387867764104158e-11,-0.2933611127337391],"issued_joint_targets_rad":[-1.9827967155578168,-1.5377242490746819,1.271762044126192,-1.304834121850123,-1.5707963267944862,-0.4120003887629361],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.219999999997004,"joint_targets_rad":[-1.9827967155578168,-1.5377242490746819,1.271762044126192,-1.304834121850123,-1.5707963267944862,-0.4120003887629361],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.239999999996993,"qpos":[-1.9827967155737656,-1.5377242492853518,1.2717620447387106,-1.3048341224145363,-1.5707963267881975,-0.41200038876903344,0.0029336111698254246,0.00015630155414998677,0.0031934794748449723,-0.003429298941296624,0.002933611075841101,0.0001563011133196204,0.0031978493825668753,-0.0034379968906940797,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,3.55932051026037e-17,6.051606762089211e-18,-2.262702157367707e-07],"qvel":[7.90117401697757e-11,1.05753879215349e-09,-3.0974114201462655e-09,2.84510736526275e-09,-2.3196071874535913e-11,3.080249305078139e-11,6.053873735913403e-10,3.932562919034169e-09,-3.6369393777591344e-09,-4.700837975769066e-10,-3.9811826537139095e-10,-2.5446208148067887e-09,2.4201318652495314e-09,2.171672101561531e-10,-4.95261687649928e-18,4.127765752137219e-17,1.1695666698875857e-14,-5.372460842044698e-16,7.504275878418239e-16,-1.3358560478943659e-08],"joint_position_rad":[-1.9827967155737656,-1.5377242492853518,1.2717620447387106,-1.3048341224145363,-1.5707963267881975,-0.41200038876903344],"joint_velocity_rad_s":[7.90117401697757e-11,1.05753879215349e-09,-3.0974114201462655e-09,2.84510736526275e-09,-2.3196071874535913e-11,3.080249305078139e-11],"linkage_position_rad":[0.0029336111698254246,0.00015630155414998677,0.0031934794748449723,-0.003429298941296624,0.002933611075841101,0.0001563011133196204,0.0031978493825668753,-0.0034379968906940797],"tcp_position_m":[0.07433918935271301,0.504737357647665,0.43499999986664606],"tcp_quaternion_wxyz":[-3.34468323850644e-11,0.7071067811900247,0.7071067811830698,7.618971438352762e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,3.55932051026037e-17,6.051606762089211e-18,-2.262702157367707e-07],"object_linear_velocity_m_s":[-4.95261687649928e-18,4.127765752137219e-17,1.1695666698875857e-14],"object_angular_velocity_rad_s":[-5.372457447672717e-16,7.504278319182699e-16,-1.3358560478943662e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221260665,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155578168,-1.548566936683894,1.2616190686930484,-1.3096608189250505,-1.570795077131757,-0.4120003887629359,0.0],"actuator_force":[2.9331204132176936e-10,-21.68537522009956,-20.285950852359747,-2.413348539767867,0.0006248305398912635,-3.1462832339457236e-11,-0.29336111331967185],"issued_joint_targets_rad":[-1.9827967155577781,-1.537724249074324,1.2717620441255817,-1.3048341218495185,-1.5707963267945249,-0.4120003887628964],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.239999999996993,"joint_targets_rad":[-1.9827967155577781,-1.537724249074324,1.2717620441255817,-1.3048341218495185,-1.5707963267945249,-0.4120003887628964],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.259999999996982,"qpos":[-1.9827967155723063,-1.5377242492652445,1.2717620446798603,-1.3048341223605586,-1.5707963267888188,-0.41200038876844536,0.0029336111679515897,0.0001563015435986689,0.003193479485047595,-0.0034292989408223735,0.002933611077274307,0.00015630112000155505,0.003197849376140717,-0.003437996891016338,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,4.593502980162677e-17,1.465541410657938e-17,-2.2658250784081146e-07],"qvel":[7.018125952528971e-11,9.583923674018694e-10,-2.8037601055078763e-09,2.5751924569357097e-09,-2.1341356768528652e-11,2.803582063936265e-11,-4.2081187996274763e-10,-1.4456100747829258e-09,1.6799563191398138e-09,-1.1438460500352986e-10,6.493530245596185e-10,8.713785414278774e-10,-6.581915166226833e-10,-1.506657892725117e-10,-2.9448763842959336e-17,8.695390517936957e-17,1.1778933425722747e-14,2.4615848237657277e-15,1.382639371154378e-15,-5.3697221414391985e-08],"joint_position_rad":[-1.9827967155723063,-1.5377242492652445,1.2717620446798603,-1.3048341223605586,-1.5707963267888188,-0.41200038876844536],"joint_velocity_rad_s":[7.018125952528971e-11,9.583923674018694e-10,-2.8037601055078763e-09,2.5751924569357097e-09,-2.1341356768528652e-11,2.803582063936265e-11],"linkage_position_rad":[0.0029336111679515897,0.0001563015435986689,0.003193479485047595,-0.0034292989408223735,0.002933611077274307,0.00015630112000155505,0.003197849376140717,-0.003437996891016338],"tcp_position_m":[0.07433918935238316,0.5047373576483075,0.4349999998794934],"tcp_quaternion_wxyz":[-3.0379082924026967e-11,0.7071067811897167,0.7071067811833782,6.921051343422105e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,4.593502980162677e-17,1.465541410657938e-17,-2.2658250784081146e-07],"object_linear_velocity_m_s":[-2.9448763842959336e-17,8.695390517936957e-17,1.1778933425722747e-14],"object_angular_velocity_rad_s":[2.461585448755359e-15,1.3826382605832787e-15,-5.3697221414392e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221230198,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155577781,-1.548566936683856,1.2616190686925455,-1.3096608189243952,-1.5707950771317973,-0.4120003887628962,0.0],"actuator_force":[9.840732673183084e-10,-21.685375220579772,-20.285950853125996,-2.413348539437493,0.0006248306448242147,-2.8990143619012088e-11,-0.29336111340400056],"issued_joint_targets_rad":[-1.9827967155577435,-1.5377242490739989,1.271762044125027,-1.3048341218489707,-1.5707963267945597,-0.41200038876285966],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.259999999996982,"joint_targets_rad":[-1.9827967155577435,-1.5377242490739989,1.271762044125027,-1.3048341218489707,-1.5707963267945597,-0.41200038876285966],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.27999999999697,"qpos":[-1.982796715570962,-1.5377242492470213,1.2717620446266114,-1.3048341223116624,-1.5707963267893346,-0.4120003887679102,0.0029336111727792493,0.00015630157048078018,0.00319347945974404,-0.0034292989435169593,0.002933611073287263,0.0001563011027195272,0.0031978493920017887,-0.003437996889222952,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,4.211932340468115e-17,1.5098298708985534e-17,-2.2678611141325807e-07],"qvel":[6.521055569813557e-11,8.687119160052309e-10,-2.5364256499696482e-09,2.330740212399236e-09,-2.3787021515869498e-11,2.550708696540715e-11,1.1804529791875308e-09,5.310179613558518e-09,-5.299902767651869e-09,-2.8815528874424535e-10,-1.1323121875801642e-09,-3.410516577999529e-09,3.2023727371571107e-09,3.260604582256437e-10,-1.7324242428606813e-17,4.882399586772923e-17,1.1910772409896989e-14,-1.370265862754173e-15,-5.24261365448148e-16,-5.810975358466107e-09],"joint_position_rad":[-1.982796715570962,-1.5377242492470213,1.2717620446266114,-1.3048341223116624,-1.5707963267893346,-0.4120003887679102],"joint_velocity_rad_s":[6.521055569813557e-11,8.687119160052309e-10,-2.5364256499696482e-09,2.330740212399236e-09,-2.3787021515869498e-11,2.550708696540715e-11],"linkage_position_rad":[0.0029336111727792493,0.00015630157048078018,0.00319347945974404,-0.0034292989435169593,0.002933611073287263,0.0001563011027195272,0.0031978493920017887,-0.003437996889222952],"tcp_position_m":[0.07433918935205953,0.5047373576488895,0.43499999989109783],"tcp_quaternion_wxyz":[-2.7609006238354734e-11,0.7071067811894307,0.707106781183664,6.284734182356424e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,4.211932340468115e-17,1.5098298708985534e-17,-2.2678611141325807e-07],"object_linear_velocity_m_s":[-1.7324242428606813e-17,4.882399586772923e-17,1.1910772409896989e-14],"object_angular_velocity_rad_s":[-1.370266100719897e-15,-5.242607434440524e-16,-5.8109753584661095e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221308214,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155577435,-1.5485669366838208,1.261619068692088,-1.3096608189238015,-1.5707950771318346,-0.4120003887628595,0.0],"actuator_force":[3.5288394428789616e-10,-21.685375221083632,-20.28595085447614,-2.4133485391436125,0.000624831128675396,-2.5352164811920375e-11,-0.2933611125440296],"issued_joint_targets_rad":[-1.9827967155577115,-1.5377242490737044,1.271762044124526,-1.3048341218484754,-1.5707963267945915,-0.41200038876282746],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.27999999999697,"joint_targets_rad":[-1.9827967155577115,-1.5377242490737044,1.271762044124526,-1.3048341218484754,-1.5707963267945915,-0.41200038876282746],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.29999999999696,"qpos":[-1.982796715569752,-1.5377242492305059,1.2717620445784203,-1.3048341222674091,-1.5707963267898413,-0.4120003887674232,0.002933611170628408,0.00015630155863915007,0.0031934794707220984,-0.0034292989419302837,0.0029336110753107264,0.00015630111043391285,0.0031978493852626213,-0.0034379968904251707,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,3.0317850458495225e-17,-1.4676716813642884e-18,-2.2722370460034679e-07],"qvel":[6.033627706586661e-11,7.872931187933826e-10,-2.294919018042186e-09,2.112176091706236e-09,-1.7374216280209573e-11,2.3214861251209383e-11,8.744408829289587e-10,4.96703404732361e-09,-4.7166129782612584e-09,-5.022113410046752e-10,-7.249331165621169e-10,-3.201461883092198e-09,2.985650584782294e-09,3.165710834222017e-10,2.221493461895417e-18,3.7159411593247133e-17,1.173174894717618e-14,-1.3599961806560255e-15,-7.575491770078576e-16,-2.335829754628113e-08],"joint_position_rad":[-1.982796715569752,-1.5377242492305059,1.2717620445784203,-1.3048341222674091,-1.5707963267898413,-0.4120003887674232],"joint_velocity_rad_s":[6.033627706586661e-11,7.872931187933826e-10,-2.294919018042186e-09,2.112176091706236e-09,-1.7374216280209573e-11,2.3214861251209383e-11],"linkage_position_rad":[0.002933611170628408,0.00015630155863915007,0.0031934794707220984,-0.0034292989419302837,0.0029336110753107264,0.00015630111043391285,0.0031978493852626213,-0.0034379968904251707],"tcp_position_m":[0.07433918935178137,0.5047373576494169,0.4349999999015878],"tcp_quaternion_wxyz":[-2.5078983768130357e-11,0.707106781189175,0.7071067811839195,5.708414561805273e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,3.0317850458495225e-17,-1.4676716813642884e-18,-2.2722370460034679e-07],"object_linear_velocity_m_s":[2.221493461895417e-18,3.7159411593247133e-17,1.173174894717618e-14],"object_angular_velocity_rad_s":[-1.3599965248535817e-15,-7.575485575446922e-16,-2.3358297546281146e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221273256,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155577115,-1.5485669366837895,1.261619068691675,-1.3096608189232641,-1.5707950771318677,-0.4120003887628273,0.0],"actuator_force":[-5.32054400537163e-11,-21.685375221484264,-20.28595085552297,-2.4133485391450904,0.0006248307242913143,-2.3533175408374518e-11,-0.2933611130444955],"issued_joint_targets_rad":[-1.982796715557683,-1.537724249073439,1.2717620441240725,-1.3048341218480264,-1.5707963267946203,-0.4120003887627975],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.29999999999696,"joint_targets_rad":[-1.982796715557683,-1.537724249073439,1.2717620441240725,-1.3048341218480264,-1.5707963267946203,-0.4120003887627975],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.319999999996949,"qpos":[-1.982796715568651,-1.5377242492155379,1.2717620445348106,-1.3048341222273443,-1.5707963267903116,-0.41200038876698014,0.0029336111680684325,0.0001563015451875425,0.003193479483925922,-0.0034292989413492432,0.002933611077535411,0.00015630111896132174,0.003197849377196256,-0.003437996890979511,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,1.9612902886499422e-17,-4.063080603422222e-18,-2.2740900955906163e-07],"qvel":[5.46655214716528e-11,7.134475018893442e-10,-2.076963765055045e-09,1.9136993426640614e-09,-1.1681443161805358e-11,2.1135816997300066e-11,2.0795938068295744e-10,2.1388333107843982e-09,-1.7836509928541145e-09,-4.070712047511384e-10,6.202639312068711e-11,-1.407108126370879e-09,1.4099780022353658e-09,8.198922853599558e-11,2.6200055578324587e-18,6.439400187123215e-17,1.1495826554443335e-14,6.663162605209995e-16,4.405114469573466e-17,-9.389302666127678e-08],"joint_position_rad":[-1.982796715568651,-1.5377242492155379,1.2717620445348106,-1.3048341222273443,-1.5707963267903116,-0.41200038876698014],"joint_velocity_rad_s":[5.46655214716528e-11,7.134475018893442e-10,-2.076963765055045e-09,1.9136993426640614e-09,-1.1681443161805358e-11,2.1135816997300066e-11],"linkage_position_rad":[0.0029336111680684325,0.0001563015451875425,0.003193479483925922,-0.0034292989413492432,0.002933611077535411,0.00015630111896132174,0.003197849377196256,-0.003437996890979511],"tcp_position_m":[0.07433918935153018,0.504737357649895,0.4349999999110683],"tcp_quaternion_wxyz":[-2.2776670730945423e-11,0.7071067811889425,0.7071067811841522,5.18520810650162e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,1.9612902886499422e-17,-4.063080603422222e-18,-2.2740900955906163e-07],"object_linear_velocity_m_s":[2.6200055578324587e-18,6.439400187123215e-17,1.1495826554443335e-14],"object_angular_velocity_rad_s":[6.66316281319176e-16,4.405084532611787e-17,-9.389302666127684e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221232447,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557683,-1.5485669366837627,1.2616190686913011,-1.309660818922777,-1.5707950771318977,-0.4120003887627973,0.0],"actuator_force":[7.003109203651547e-11,-21.685375221828508,-20.28595085623283,-2.4133485390863143,0.0006248303750453488,-2.2168933355715126e-11,-0.293361113630121],"issued_joint_targets_rad":[-1.982796715557657,-1.5377242490731984,1.2717620441236621,-1.30483412184762,-1.5707963267946463,-0.4120003887627704],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.319999999996949,"joint_targets_rad":[-1.982796715557657,-1.5377242490731984,1.2717620441236621,-1.30483412184762,-1.5707963267946463,-0.4120003887627704],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.339999999996937,"qpos":[-1.9827967155676387,-1.5377242492019723,1.2717620444953517,-1.30483412219106,-1.5707963267907261,-0.4120003887665768,0.002933611171044945,0.00015630156098499985,0.003193479468863665,-0.003429298942717375,0.002933611074527233,0.00015630110896323348,0.003197849385771048,-0.0034379968896757216,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,1.6698736737149766e-17,-2.259126298936627e-18,-2.2776502343003149e-07],"qvel":[4.323174251514287e-11,6.466358597385883e-10,-1.8813904101595026e-09,1.7191317979563146e-09,-4.292180746551861e-11,1.9201799844871344e-11,-1.6755672247735148e-09,-9.152499221461398e-09,8.647030435875742e-09,9.317189084389113e-10,1.0783134637145667e-09,6.016658175248872e-09,-6.016558013655091e-09,-4.29675726209168e-10,2.6368033609086094e-18,2.2338148770419643e-17,1.1348722003680502e-14,-6.755420283612105e-16,2.0580019696348544e-16,-1.0160862143125763e-08],"joint_position_rad":[-1.9827967155676387,-1.5377242492019723,1.2717620444953517,-1.30483412219106,-1.5707963267907261,-0.4120003887665768],"joint_velocity_rad_s":[4.323174251514287e-11,6.466358597385883e-10,-1.8813904101595026e-09,1.7191317979563146e-09,-4.292180746551861e-11,1.9201799844871344e-11],"linkage_position_rad":[0.002933611171044945,0.00015630156098499985,0.003193479468863665,-0.003429298942717375,0.002933611074527233,0.00015630110896323348,0.003197849385771048,-0.0034379968896757216],"tcp_position_m":[0.07433918935129101,0.5047373576503276,0.43499999991963156],"tcp_quaternion_wxyz":[-2.0688292176943256e-11,0.7071067811887272,0.7071067811843675,4.709004284482621e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,1.6698736737149766e-17,-2.259126298936627e-18,-2.2776502343003149e-07],"object_linear_velocity_m_s":[2.6368033609086094e-18,2.2338148770419643e-17,1.1348722003680502e-14],"object_angular_velocity_rad_s":[-6.755419345670581e-16,2.058005050325032e-16,-1.016086214312577e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221284095,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557657,-1.5485669366837382,1.2616190686909627,-1.3096608189223364,-1.570795077131926,-0.4120003887627703,0.0],"actuator_force":[2.6711859391070902e-09,-21.685375222186394,-20.28595085622146,-2.4133485375513146,0.0006248336923135867,-1.6910917111090384e-11,-0.2933611092923401],"issued_joint_targets_rad":[-1.9827967155576336,-1.53772424907298,1.2717620441232895,-1.304834121847252,-1.57079632679467,-0.4120003887627462],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.339999999996937,"joint_targets_rad":[-1.9827967155576336,-1.53772424907298,1.2717620441232895,-1.304834121847252,-1.57079632679467,-0.4120003887627462],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.359999999996926,"qpos":[-1.9827967155667188,-1.5377242491896788,1.2717620444596427,-1.3048341221582012,-1.5707963267910825,-0.4120003887662097,0.0029336111715977577,0.0001563015636077186,0.003193479466057635,-0.003429298942513189,0.002933611074529563,0.00015630110724198682,0.00319784938819479,-0.003437996890091356,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,7.741670179488675e-18,-2.4812822163100027e-17,-2.28148251002924e-07],"qvel":[4.59174987623756e-11,5.860660798553205e-10,-1.7004090366553438e-09,1.5678059887766744e-09,-1.3556281337023934e-11,1.7493745509154866e-11,1.052657699335212e-09,5.4071801796301096e-09,-5.228693590940311e-09,-4.710421034524359e-10,-9.564748324040198e-10,-3.4819473233269424e-09,3.225407735525065e-09,3.6733004732316204e-10,4.646728987116165e-17,1.2265334594259515e-17,1.1294598631230029e-14,-6.677536410340836e-16,-2.2351482354969007e-15,-4.084347749299445e-08],"joint_position_rad":[-1.9827967155667188,-1.5377242491896788,1.2717620444596427,-1.3048341221582012,-1.5707963267910825,-0.4120003887662097],"joint_velocity_rad_s":[4.59174987623756e-11,5.860660798553205e-10,-1.7004090366553438e-09,1.5678059887766744e-09,-1.3556281337023934e-11,1.7493745509154866e-11],"linkage_position_rad":[0.0029336111715977577,0.0001563015636077186,0.003193479466057635,-0.003429298942513189,0.002933611074529563,0.00015630110724198682,0.00319784938819479,-0.003437996890091356],"tcp_position_m":[0.07433918935106786,0.5047373576507204,0.4349999999273707],"tcp_quaternion_wxyz":[-1.8800079262032054e-11,0.7071067811885318,0.7071067811845629,4.275871743947032e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,7.741670179488675e-18,-2.4812822163100027e-17,-2.28148251002924e-07],"object_linear_velocity_m_s":[4.646728987116165e-17,1.2265334594259515e-17,1.1294598631230029e-14],"object_angular_velocity_rad_s":[-6.677546588974521e-16,-2.2351479301706263e-15,-4.0843477492994484e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221287865,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155576336,-1.548566936683716,1.2616190686906552,-1.3096608189219365,-1.5707950771319505,-0.4120003887627461,0.0],"actuator_force":[-1.964508555829525e-10,-21.685375222500625,-20.285950857811258,-2.413348538648279,0.0006248309215379777,-1.7564616427989677e-11,-0.29336111278728033],"issued_joint_targets_rad":[-1.982796715557612,-1.537724249072783,1.2717620441229534,-1.3048341218469188,-1.5707963267946912,-0.41200038876272427],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.359999999996926,"joint_targets_rad":[-1.982796715557612,-1.537724249072783,1.2717620441229534,-1.3048341218469188,-1.5707963267946912,-0.41200038876272427],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.379999999996915,"qpos":[-1.9827967155658885,-1.5377242491785368,1.2717620444273268,-1.3048341221284632,-1.5707963267914367,-0.41200038876587564,0.002933611168596274,0.00015630154888350597,0.003193479480711056,-0.003429298941994596,0.0029336110773151335,0.00015630111657916708,0.003197849379427081,-0.003437996890759034,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,4.202163357643115e-18,-2.4709181042648948e-17,-2.2830311707810777e-07],"qvel":[4.2401875145890116e-11,5.310867658245175e-10,-1.5385835220495505e-09,1.421512583372126e-09,-7.254026662006902e-12,1.5924033287620102e-11,6.383794871404834e-10,4.253954718968427e-09,-3.893735913613549e-09,-5.431270029338826e-10,-4.110268860629333e-10,-2.7453844584150586e-09,2.5877867229649806e-09,2.503016715628979e-10,2.7344083501436494e-17,5.034779019033839e-18,1.1112799610947659e-14,-3.0110348159141783e-16,1.0501653951305672e-15,-4.419976211325316e-09],"joint_position_rad":[-1.9827967155658885,-1.5377242491785368,1.2717620444273268,-1.3048341221284632,-1.5707963267914367,-0.41200038876587564],"joint_velocity_rad_s":[4.2401875145890116e-11,5.310867658245175e-10,-1.5385835220495505e-09,1.421512583372126e-09,-7.254026662006902e-12,1.5924033287620102e-11],"linkage_position_rad":[0.002933611168596274,0.00015630154888350597,0.003193479480711056,-0.003429298941994596,0.0029336110773151335,0.00015630111657916708,0.003197849379427081,-0.003437996890759034],"tcp_position_m":[0.07433918935087622,0.504737357651076,0.4349999999343662],"tcp_quaternion_wxyz":[-1.7073175676690238e-11,0.7071067811883563,0.7071067811847384,3.8836316767765765e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,4.202163357643115e-18,-2.4709181042648948e-17,-2.2830311707810777e-07],"object_linear_velocity_m_s":[2.7344083501436494e-17,5.034779019033839e-18,1.1112799610947659e-14],"object_angular_velocity_rad_s":[-3.0110300186089246e-16,1.0501655326533326e-15,-4.419976211325321e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221241741,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557612,-1.5485669366836967,1.261619068690378,-1.3096608189215748,-1.5707950771319723,-0.41200038876272416,0.0],"actuator_force":[-4.079083737451583e-10,-21.685375222754374,-20.285950858464275,-2.4133485387071687,0.0006248304576956798,-1.6655121726216748e-11,-0.2933611134323334],"issued_joint_targets_rad":[-1.9827967155575927,-1.5377242490726037,1.2717620441226478,-1.3048341218466173,-1.5707963267947105,-0.4120003887627039],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.379999999996915,"joint_targets_rad":[-1.9827967155575927,-1.5377242490726037,1.2717620441226478,-1.3048341218466173,-1.5707963267947105,-0.4120003887627039],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.399999999996904,"qpos":[-1.9827967155651274,-1.5377242491684389,1.2717620443980853,-1.3048341221015365,-1.5707963267917615,-0.41200038876557177,0.002933611170311434,0.00015630155724863975,0.0031934794726577735,-0.0034292989424905647,0.0029336110752881854,0.00015630111139204922,0.0031978493834522686,-0.003437996889926966,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,7.3436075359039055e-19,-6.364876826353371e-18,-2.2873297914509327e-07],"qvel":[3.455711905396039e-11,4.812912524658122e-10,-1.393895220665887e-09,1.2815394745169027e-09,-1.7919525781582225e-11,1.4483802453930643e-11,-6.40706150507593e-10,-3.292512233238268e-09,3.230792021853948e-09,3.400465300045009e-10,5.964406582626014e-10,2.1433102322063476e-09,-2.0310332322167294e-09,-2.385892375109325e-10,6.996896602997938e-18,4.424156220302519e-18,1.1111411832166874e-14,-1.6090758021131888e-16,8.749929893911815e-16,-1.7766917448931733e-08],"joint_position_rad":[-1.9827967155651274,-1.5377242491684389,1.2717620443980853,-1.3048341221015365,-1.5707963267917615,-0.41200038876557177],"joint_velocity_rad_s":[3.455711905396039e-11,4.812912524658122e-10,-1.393895220665887e-09,1.2815394745169027e-09,-1.7919525781582225e-11,1.4483802453930643e-11],"linkage_position_rad":[0.002933611170311434,0.00015630155724863975,0.0031934794726577735,-0.0034292989424905647,0.0029336110752881854,0.00015630111139204922,0.0031978493834522686,-0.003437996889926966],"tcp_position_m":[0.07433918935069875,0.504737357651398,0.4349999999406864],"tcp_quaternion_wxyz":[-1.5502425676950683e-11,0.7071067811881946,0.7071067811848997,3.527219579926087e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,7.3436075359039055e-19,-6.364876826353371e-18,-2.2873297914509327e-07],"object_linear_velocity_m_s":[6.996896602997938e-18,4.424156220302519e-18,1.1111411832166874e-14],"object_angular_velocity_rad_s":[-1.6090717970562736e-16,8.74993063026926e-16,-1.7766917448931756e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221272482,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155575927,-1.548566936683679,1.2616190686901259,-1.3096608189212475,-1.5707950771319932,-0.4120003887627038,0.0],"actuator_force":[1.2464624887797982e-09,-21.6853752229963,-20.285950858360593,-2.4133485380094726,0.0006248316760775197,-1.4381384971784428e-11,-0.2933611120586535],"issued_joint_targets_rad":[-1.9827967155575754,-1.5377242490724423,1.271762044122373,-1.304834121846345,-1.570796326794728,-0.41200038876268585],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.399999999996904,"joint_targets_rad":[-1.9827967155575754,-1.5377242490724423,1.271762044122373,-1.304834121846345,-1.570796326794728,-0.41200038876268585],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.419999999996893,"qpos":[-1.9827967155644286,-1.5377242491592886,1.2717620443716264,-1.3048341220771418,-1.5707963267920197,-0.41200038876529527,0.0029336111726725295,0.00015630156865789355,0.0031934794612059397,-0.003429298943026903,0.002933611073578287,0.00015630110398260618,0.003197849391202217,-0.003437996889722668,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,4.4929422742722826e-20,3.075357282947869e-18,-2.290200389490435e-07],"qvel":[3.4812563660195633e-11,4.362415221113904e-10,-1.259968667679099e-09,1.163554025037237e-09,-1.0895977749767876e-11,1.3178043931080093e-11,1.1626657598637725e-09,5.46822842890801e-09,-5.372127088106172e-09,-3.9893143106841346e-10,-1.1086530572723009e-09,-3.5210989714472173e-09,3.2598466021380905e-09,3.783111047006857e-10,-9.441497803808066e-18,-1.1259202695818844e-17,1.1058676238497177e-14,2.138618247751321e-17,1.629842266616244e-15,-7.141743315907564e-08],"joint_position_rad":[-1.9827967155644286,-1.5377242491592886,1.2717620443716264,-1.3048341220771418,-1.5707963267920197,-0.41200038876529527],"joint_velocity_rad_s":[3.4812563660195633e-11,4.362415221113904e-10,-1.259968667679099e-09,1.163554025037237e-09,-1.0895977749767876e-11,1.3178043931080093e-11],"linkage_position_rad":[0.0029336111726725295,0.00015630156865789355,0.0031934794612059397,-0.003429298943026903,0.002933611073578287,0.00015630110398260618,0.003197849391202217,-0.003437996889722668],"tcp_position_m":[0.07433918935052283,0.5047373576516898,0.4349999999463956],"tcp_quaternion_wxyz":[-1.4089782122174405e-11,0.7071067811880452,0.7071067811850489,3.202034599039868e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,4.4929422742722826e-20,3.075357282947869e-18,-2.290200389490435e-07],"object_linear_velocity_m_s":[-9.441497803808066e-18,-1.1259202695818844e-17,1.1058676238497177e-14],"object_angular_velocity_rad_s":[2.1386928571321513e-17,1.629842256826764e-15,-7.141743315907573e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221302985,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155575754,-1.5485669366836639,1.2616190686898991,-1.3096608189209518,-1.5707950771320118,-0.41200038876268574,0.0],"actuator_force":[-2.1873347577638924e-10,-21.68537522324732,-20.285950859466993,-2.4133485382603794,0.0006248310935461632,-1.304556462855544e-11,-0.29336111258260433],"issued_joint_targets_rad":[-1.9827967155575597,-1.5377242490722953,1.2717620441221227,-1.304834121846098,-1.570796326794744,-0.41200038876266987],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.419999999996893,"joint_targets_rad":[-1.9827967155575597,-1.5377242490722953,1.2717620441221227,-1.304834121846098,-1.570796326794744,-0.41200038876266987],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.439999999996882,"qpos":[-1.9827967155638022,-1.537724249150996,1.2717620443476791,-1.3048341220550688,-1.5707963267922855,-0.41200038876504375,0.0029336111694188726,0.00015630155375840363,0.0031934794762387944,-0.0034292989426726907,0.0029336110767176366,0.00015630111344912967,0.0031978493823027285,-0.0034379968904171333,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,1.2138027445877176e-18,6.323588871751218e-18,-2.2929083218830518e-07],"qvel":[3.270682082462373e-11,3.9532453162523966e-10,-1.1398177675073904e-09,1.0555165048717024e-09,-5.314345014489173e-12,1.1993580960059131e-11,9.325034086371216e-10,5.384468514449972e-09,-5.075987962017242e-09,-5.740751824124555e-10,-7.682935508475839e-10,-3.4590241521174885e-09,3.2022197201861216e-09,3.5662754099423304e-10,-6.2666208771607715e-18,-1.1356043695395182e-19,1.0951817272377008e-14,-1.283922768183621e-16,6.934396734668003e-18,-7.728611151955796e-09],"joint_position_rad":[-1.9827967155638022,-1.537724249150996,1.2717620443476791,-1.3048341220550688,-1.5707963267922855,-0.41200038876504375],"joint_velocity_rad_s":[3.270682082462373e-11,3.9532453162523966e-10,-1.1398177675073904e-09,1.0555165048717024e-09,-5.314345014489173e-12,1.1993580960059131e-11],"linkage_position_rad":[0.0029336111694188726,0.00015630155375840363,0.0031934794762387944,-0.0034292989426726907,0.0029336110767176366,0.00015630111344912967,0.0031978493823027285,-0.0034379968904171333],"tcp_position_m":[0.0743391893503764,0.5047373576519544,0.434999999951558],"tcp_quaternion_wxyz":[-1.2795325366723335e-11,0.7071067811879129,0.7071067811851818,2.908081436424389e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,1.2138027445877176e-18,6.323588871751218e-18,-2.2929083218830518e-07],"object_linear_velocity_m_s":[-6.2666208771607715e-18,-1.1356043695395182e-19,1.0951817272377008e-14],"object_angular_velocity_rad_s":[-1.283922737361067e-16,6.934455631773322e-18,-7.728611151955808e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221255576,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155575597,-1.5485669366836494,1.2616190686896926,-1.309660818920683,-1.5707950771320283,-0.4120003887626698,0.0],"actuator_force":[-5.975380190648139e-10,-21.685375223436495,-20.28595086004634,-2.4133485383588322,0.0006248306601719378,-1.2391865311656147e-11,-0.2933611131278747],"issued_joint_targets_rad":[-1.9827967155575454,-1.537724249072163,1.2717620441218966,-1.3048341218458743,-1.570796326794758,-0.4120003887626541],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.439999999996882,"joint_targets_rad":[-1.9827967155575454,-1.537724249072163,1.2717620441218966,-1.3048341218458743,-1.570796326794758,-0.4120003887626541],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.459999999996871,"qpos":[-1.9827967155632293,-1.5377242491434804,1.2717620443260096,-1.3048341220350854,-1.5707963267925362,-0.4120003887648146,0.0029336111702392654,0.0001563015572465174,0.003193479472859321,-0.003429298942579919,0.002933611075550733,0.00015630111139018212,0.003197849383511408,-0.003437996889990927,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,-6.2865834367187905e-18,-2.655905053605047e-19,-2.2967962332851033e-07],"qvel":[2.7579925284151312e-11,3.5820446123882283e-10,-1.032460795899358e-09,9.541278584013062e-10,-6.639496990601796e-12,1.0918218759805301e-11,2.782403397492251e-11,4.400991908809472e-10,-3.483761461223806e-10,8.15074164618819e-12,1.1052939811065189e-10,-2.880993249746985e-10,3.497400937940426e-10,-5.860296677563982e-11,4.21594124837727e-18,-9.707440369544207e-18,1.091712280285747e-14,-5.435438327718704e-16,-7.27790712219979e-16,-3.106659171147833e-08],"joint_position_rad":[-1.9827967155632293,-1.5377242491434804,1.2717620443260096,-1.3048341220350854,-1.5707963267925362,-0.4120003887648146],"joint_velocity_rad_s":[2.7579925284151312e-11,3.5820446123882283e-10,-1.032460795899358e-09,9.541278584013062e-10,-6.639496990601796e-12,1.0918218759805301e-11],"linkage_position_rad":[0.0029336111702392654,0.0001563015572465174,0.003193479472859321,-0.003429298942579919,0.002933611075550733,0.00015630111139018212,0.003197849383511408,-0.003437996889990927],"tcp_position_m":[0.07433918935024324,0.5047373576521942,0.43499999995622274],"tcp_quaternion_wxyz":[-1.16153753087317e-11,0.7071067811877914,0.7071067811853033,2.6412724104009504e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,-6.2865834367187905e-18,-2.655905053605047e-19,-2.2967962332851033e-07],"object_linear_velocity_m_s":[4.21594124837727e-18,-9.707440369544207e-18,1.091712280285747e-14],"object_angular_velocity_rad_s":[-5.435441670727054e-16,-7.277904629286234e-16,-3.106659171147838e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221270961,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155575454,-1.5485669366836372,1.261619068689506,-1.3096608189204402,-1.5707950771320431,-0.41200038876265405,0.0],"actuator_force":[3.356035449542105e-10,-21.6853752235952,-20.28595086002315,-2.4133485380901902,0.0006248309105103544,-1.1539214028744027e-11,-0.29336111298126705],"issued_joint_targets_rad":[-1.9827967155575326,-1.5377242490720426,1.2717620441216917,-1.304834121845672,-1.5707963267947713,-0.4120003887626409],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.459999999996871,"joint_targets_rad":[-1.9827967155575326,-1.5377242490720426,1.2717620441216917,-1.304834121845672,-1.5707963267947713,-0.4120003887626409],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.47999999999686,"qpos":[-1.982796715562706,-1.5377242491366696,1.2717620443064015,-1.3048341220169875,-1.5707963267927536,-0.41200038876460626,0.0029336111707058696,0.00015630155813915823,0.0031934794712972173,-0.0034292989422214245,0.002933611074950711,0.00015630111085886768,0.0031978493843415135,-0.0034379968901488644,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,-6.398270109029966e-18,-3.576592997666389e-18,-2.2979741841901202e-07],"qvel":[1.9819295053674483e-11,3.246553815150839e-10,-9.356948337873003e-10,8.519622409477514e-10,-3.501881191448825e-11,9.901678664872561e-12,-1.880340283487222e-09,-1.0159418019160738e-08,9.62480406471479e-09,9.037704647224286e-10,1.2340458657552597e-09,6.645012062360821e-09,-6.6143894228048274e-09,-4.2005547518794293e-10,2.8773711485228633e-18,-6.767079787862691e-18,1.0875489439434028e-14,3.944312814743226e-16,-7.519257261738502e-17,-3.3619467479289723e-09],"joint_position_rad":[-1.982796715562706,-1.5377242491366696,1.2717620443064015,-1.3048341220169875,-1.5707963267927536,-0.41200038876460626],"joint_velocity_rad_s":[1.9819295053674483e-11,3.246553815150839e-10,-9.356948337873003e-10,8.519622409477514e-10,-3.501881191448825e-11,9.901678664872561e-12],"linkage_position_rad":[0.0029336111707058696,0.00015630155813915823,0.0031934794712972173,-0.0034292989422214245,0.002933611074950711,0.00015630111085886768,0.0031978493843415135,-0.0034379968901488644],"tcp_position_m":[0.0743391893501175,0.5047373576524112,0.43499999996043703],"tcp_quaternion_wxyz":[-1.0547477070421943e-11,0.70710678118768,0.7071067811854147,2.398470327809677e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,-6.398270109029966e-18,-3.576592997666389e-18,-2.2979741841901202e-07],"object_linear_velocity_m_s":[2.8773711485228633e-18,-6.767079787862691e-18,1.0875489439434028e-14],"object_angular_velocity_rad_s":[3.9443124694021213e-16,-7.519275393897896e-17,-3.361946747928978e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221276055,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155575326,-1.5485669366836259,1.2616190686893367,-1.3096608189202203,-1.5707950771320576,-0.41200038876264083,0.0],"actuator_force":[2.419255906715989e-09,-21.685375223774827,-20.28595085985171,-2.4133485368126912,0.0006248338499972306,-7.44648787076585e-12,-0.2933611090513569],"issued_joint_targets_rad":[-1.9827967155575208,-1.5377242490719345,1.271762044121507,-1.3048341218454889,-1.5707963267947833,-0.4120003887626294],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.47999999999686,"joint_targets_rad":[-1.9827967155575208,-1.5377242490719345,1.271762044121507,-1.3048341218454889,-1.5707963267947833,-0.4120003887626294],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.499999999996849,"qpos":[-1.982796715562227,-1.537724249130497,1.2717620442886572,-1.3048341220005928,-1.57079632679293,-0.4120003887644169,0.002933611173317026,0.0001563015713440847,0.003193479458327633,-0.0034292989425514014,0.002933611072870377,0.00015630110239765255,0.0031978493924645877,-0.0034379968897028713,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,-1.9859741361800777e-17,-3.831146194852052e-17,-2.3027091772053985e-07],"qvel":[2.4205354868390644e-11,2.942095540089681e-10,-8.448374813306924e-10,7.828204442134343e-10,-5.31345732097079e-12,9.030276665730479e-12,8.878589810423324e-10,4.2446800764820226e-09,-4.2400634096026196e-09,-2.0160476347084472e-10,-7.999788520165813e-10,-2.7509427932404555e-09,2.644303656680676e-09,2.0968106102125697e-10,4.324174638453603e-17,-2.44403953570317e-17,1.0774181588436982e-14,3.119891100052427e-16,2.0648101822289315e-16,-1.3513970999457217e-08],"joint_position_rad":[-1.982796715562227,-1.537724249130497,1.2717620442886572,-1.3048341220005928,-1.57079632679293,-0.4120003887644169],"joint_velocity_rad_s":[2.4205354868390644e-11,2.942095540089681e-10,-8.448374813306924e-10,7.828204442134343e-10,-5.31345732097079e-12,9.030276665730479e-12],"linkage_position_rad":[0.002933611173317026,0.0001563015713440847,0.003193479458327633,-0.0034292989425514014,0.002933611072870377,0.00015630110239765255,0.0031978493924645877,-0.0034379968897028713],"tcp_position_m":[0.07433918934999559,0.504737357652608,0.43499999996424454],"tcp_quaternion_wxyz":[-9.585745702853409e-12,0.7071067811875775,0.7071067811855172,2.177159578470402e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,-1.9859741361800777e-17,-3.831146194852052e-17,-2.3027091772053985e-07],"object_linear_velocity_m_s":[4.324174638453603e-17,-2.44403953570317e-17,1.0774181588436982e-14],"object_angular_velocity_rad_s":[3.1198920613383714e-16,2.064808740020661e-16,-1.3513970999457244e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221314065,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155575208,-1.5485669366836168,1.2616190686891844,-1.3096608189200212,-1.5707950771320702,-0.41200038876262934,0.0],"actuator_force":[-2.696651790756732e-10,-21.68537522392353,-20.28595086101086,-2.413348537996285,0.0006248309612146841,-9.237055564881302e-12,-0.2933611127487708],"issued_joint_targets_rad":[-1.9827967155575101,-1.537724249071836,1.271762044121339,-1.3048341218453228,-1.570796326794794,-0.41200038876261763],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.499999999996849,"joint_targets_rad":[-1.9827967155575101,-1.537724249071836,1.271762044121339,-1.3048341218453228,-1.570796326794794,-0.41200038876261763],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.519999999996838,"qpos":[-1.9827967155617974,-1.537724249124904,1.2717620442725979,-1.3048341219857607,-1.570796326793117,-0.4120003887642445,0.0029336111713811563,0.0001563015610515193,0.003193479468114979,-0.0034292989417301057,0.0029336110745784016,0.00015630110906338063,0.0031978493864232194,-0.0034379968904110297,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999745,-2.199313308962002e-18,-2.4063875786318756e-17,-2.305868429614382e-07],"qvel":[2.1919419778630424e-11,2.665915603843107e-10,-7.646586338720464e-10,7.09667163167104e-10,-2.0700191689380885e-12,8.223219091790642e-12,3.999140535123465e-10,2.5309790512144132e-09,-2.3476629287550545e-09,-2.4788425859008996e-10,-2.3271869795200322e-10,-1.65173636862445e-09,1.6005353224390382e-09,1.1708652743144285e-10,2.6452263800106417e-17,1.7014362889599045e-17,1.0733936003794317e-14,2.8314919573625444e-15,1.8332447704190667e-15,-5.432192294142762e-08],"joint_position_rad":[-1.9827967155617974,-1.537724249124904,1.2717620442725979,-1.3048341219857607,-1.570796326793117,-0.4120003887642445],"joint_velocity_rad_s":[2.1919419778630424e-11,2.665915603843107e-10,-7.646586338720464e-10,7.09667163167104e-10,-2.0700191689380885e-12,8.223219091790642e-12],"linkage_position_rad":[0.0029336111713811563,0.0001563015610515193,0.003193479468114979,-0.0034292989417301057,0.0029336110745784016,0.00015630110906338063,0.0031978493864232194,-0.0034379968904110297],"tcp_position_m":[0.07433918934989499,0.5047373576527862,0.4349999999676881],"tcp_quaternion_wxyz":[-8.702146883024905e-12,0.7071067811874866,0.7071067811856081,1.977317276461204e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999745,-2.199313308962002e-18,-2.4063875786318756e-17,-2.305868429614382e-07],"object_linear_velocity_m_s":[2.6452263800106417e-17,1.7014362889599045e-17,1.0733936003794317e-14],"object_angular_velocity_rad_s":[2.8314928054208893e-15,1.8332434643703505e-15,-5.4321922941427725e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221283969,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155575101,-1.5485669366836077,1.2616190686890458,-1.3096608189198404,-1.5707950771320813,-0.4120003887626176,0.0],"actuator_force":[-1.9372237147763371e-10,-21.685375224044037,-20.285950861240508,-2.4133485380066304,0.0006248307248597484,-8.86757334228605e-12,-0.2933611131339547],"issued_joint_targets_rad":[-1.9827967155575001,-1.5377242490717469,1.2717620441211872,-1.3048341218451724,-1.5707963267948033,-0.4120003887626076],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.519999999996838,"joint_targets_rad":[-1.9827967155575001,-1.5377242490717469,1.2717620441211872,-1.3048341218451724,-1.5707963267948033,-0.4120003887626076],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.539999999996827,"qpos":[-1.9827967155614041,-1.5377242491198353,1.271762044258067,-1.3048341219723318,-1.5707963267932914,-0.4120003887640877,0.002933611169955524,0.0001563015541887806,0.0031934794751014204,-0.0034292989419408486,0.002933611075686094,0.0001563011133707198,0.003197849382074502,-0.00343799689041568,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,7.643198527375952e-18,-1.0272183030520245e-17,-2.3079281521254737e-07],"qvel":[1.703591130681938e-11,2.4158605593212506e-10,-6.930854018918344e-10,6.383130910463404e-10,-1.0815582318859554e-11,7.474613148924352e-12,-7.755661761353542e-10,-3.799907701820574e-09,3.802846384152995e-09,2.4913245813093034e-10,7.310960037907074e-10,2.445259001145017e-09,-2.3392593554950214e-09,-2.0973425036905756e-10,1.554411453239618e-17,6.203709695502901e-18,1.1574929944947877e-14,1.6907538378221256e-16,9.419382681572552e-16,-5.8785789529240296e-09],"joint_position_rad":[-1.9827967155614041,-1.5377242491198353,1.271762044258067,-1.3048341219723318,-1.5707963267932914,-0.4120003887640877],"joint_velocity_rad_s":[1.703591130681938e-11,2.4158605593212506e-10,-6.930854018918344e-10,6.383130910463404e-10,-1.0815582318859554e-11,7.474613148924352e-12],"linkage_position_rad":[0.002933611169955524,0.0001563015541887806,0.0031934794751014204,-0.0034292989419408486,0.002933611075686094,0.0001563011133707198,0.003197849382074502,-0.00343799689041568],"tcp_position_m":[0.07433918934980281,0.5047373576529474,0.43499999997079886],"tcp_quaternion_wxyz":[-7.89758893270227e-12,0.707106781187403,0.7071067811856917,1.795826200142991e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,7.643198527375952e-18,-1.0272183030520245e-17,-2.3079281521254737e-07],"object_linear_velocity_m_s":[1.554411453239618e-17,6.203709695502901e-18,1.1574929944947877e-14],"object_angular_velocity_rad_s":[1.6907581868813557e-16,9.419381902042495e-16,-5.8785789529240296e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221263824,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155575001,-1.5485669366836,1.2616190686889204,-1.3096608189196768,-1.570795077132091,-0.41200038876260753,0.0],"actuator_force":[9.93622961686924e-10,-21.68537522416318,-20.28595086105952,-2.4133485375037935,0.0006248316816481747,-7.389644451905042e-12,-0.29336111205973003],"issued_joint_targets_rad":[-1.9827967155574915,-1.5377242490716656,1.2717620441210487,-1.304834121845036,-1.5707963267948124,-0.4120003887625989],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.539999999996827,"joint_targets_rad":[-1.9827967155574915,-1.5377242490716656,1.2717620441210487,-1.304834121845036,-1.5707963267948124,-0.4120003887625989],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.559999999996815,"qpos":[-1.9827967155610384,-1.537724249115242,1.2717620442449198,-1.3048341219601578,-1.570796326793414,-0.41200038876394496,0.002933611174243652,0.00015630157547665693,0.0031934794542007043,-0.0034292989427927387,0.0029336110720343664,0.00015630109968099896,0.0031978493950796175,-0.0034379968894904826,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,1.8909935836108963e-17,1.2878584620407699e-17,-2.312354992614162e-07],"qvel":[1.8449242241898624e-11,2.1897025447968728e-10,-6.259771633366107e-10,5.810036612442302e-10,-4.401358530790865e-12,6.79870468913981e-12,9.98458187696376e-10,4.427483664012376e-09,-4.486771007400813e-09,-1.6074341917070257e-10,-9.451909946350226e-10,-2.8659038046502644e-09,2.7510795357940327e-09,2.2570505419714114e-10,-1.5934634606209392e-17,2.1735282965682575e-17,1.173730006229931e-14,1.048963535270007e-16,7.864950536573303e-16,-2.363004278303377e-08],"joint_position_rad":[-1.9827967155610384,-1.537724249115242,1.2717620442449198,-1.3048341219601578,-1.570796326793414,-0.41200038876394496],"joint_velocity_rad_s":[1.8449242241898624e-11,2.1897025447968728e-10,-6.259771633366107e-10,5.810036612442302e-10,-4.401358530790865e-12,6.79870468913981e-12],"linkage_position_rad":[0.002933611174243652,0.00015630157547665693,0.0031934794542007043,-0.0034292989427927387,0.0029336110720343664,0.00015630109968099896,0.0031978493950796175,-0.0034379968894904826],"tcp_position_m":[0.07433918934970447,0.5047373576530939,0.4349999999736077],"tcp_quaternion_wxyz":[-7.1803793162401975e-12,0.7071067811873242,0.7071067811857705,1.6295371978736904e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,1.8909935836108963e-17,1.2878584620407699e-17,-2.312354992614162e-07],"object_linear_velocity_m_s":[-1.5934634606209392e-17,2.1735282965682575e-17,1.173730006229931e-14],"object_angular_velocity_rad_s":[1.0489671664949949e-16,7.864950060394103e-16,-2.3630042783033775e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221326147,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574915,-1.5485669366835924,1.2616190686888056,-1.3096608189195287,-1.570795077132101,-0.41200038876259887,0.0],"actuator_force":[-2.8603608370758593e-10,-21.685375224288236,-20.28595086183759,-2.4133485377858506,0.000624831096502021,-6.821210263296962e-12,-0.2933611125802369],"issued_joint_targets_rad":[-1.9827967155574837,-1.5377242490715928,1.2717620441209243,-1.304834121844913,-1.5707963267948202,-0.4120003887625904],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.559999999996815,"joint_targets_rad":[-1.9827967155574837,-1.5377242490715928,1.2717620441209243,-1.304834121844913,-1.5707963267948202,-0.4120003887625904],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.579999999996804,"qpos":[-1.9827967155607142,-1.5377242491110799,1.2717620442330189,-1.304834121949149,-1.5707963267935547,-0.4120003887638151,0.00293361117197418,0.00015630156444397037,0.0031934794649685137,-0.0034292989421220305,0.0029336110741572017,0.00015630110681921365,0.00319784938853529,-0.0034379968902141004,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,1.317677630250604e-17,1.5892135225054696e-17,-2.3142296001679286e-07],"qvel":[1.7239106426360422e-11,1.984114359907762e-10,-5.663510912507009e-10,5.273978715725526e-10,-5.937729131985315e-13,6.1906685533156605e-12,6.967300819299104e-10,3.8258088671996385e-09,-3.6756819512643676e-09,-3.0969376987384305e-10,-5.57067480354475e-10,-2.4804973133643575e-09,2.3589362924279405e-09,2.113462410956473e-10,-5.889201898610893e-17,1.3031526471773644e-17,1.1790035655969004e-14,-1.3370903049573752e-15,3.3548873281702782e-15,-9.498535724355932e-08],"joint_position_rad":[-1.9827967155607142,-1.5377242491110799,1.2717620442330189,-1.304834121949149,-1.5707963267935547,-0.4120003887638151],"joint_velocity_rad_s":[1.7239106426360422e-11,1.984114359907762e-10,-5.663510912507009e-10,5.273978715725526e-10,-5.937729131985315e-13,6.1906685533156605e-12],"linkage_position_rad":[0.00293361117197418,0.00015630156444397037,0.0031934794649685137,-0.0034292989421220305,0.0029336110741572017,0.00015630110681921365,0.00319784938853529,-0.0034379968902141004],"tcp_position_m":[0.07433918934962742,0.5047373576532265,0.4349999999761489],"tcp_quaternion_wxyz":[-6.518361490936156e-12,0.7071067811872555,0.7071067811858393,1.4798716905721614e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,1.317677630250604e-17,1.5892135225054696e-17,-2.3142296001679286e-07],"object_linear_velocity_m_s":[-5.889201898610893e-17,1.3031526471773644e-17,1.1790035655969004e-14],"object_angular_velocity_rad_s":[-1.33708875518036e-15,3.3548879495399146e-15,-9.498535724355935e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221292857,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574837,-1.5485669366835864,1.261619068688703,-1.3096608189193946,-1.5707950771321089,-0.4120003887625903,0.0],"actuator_force":[-4.347384674474597e-10,-21.68537522437782,-20.28595086209134,-2.413348537862589,0.0006248307822716015,-6.650680006714538e-12,-0.2933611130048821],"issued_joint_targets_rad":[-1.9827967155574764,-1.537724249071527,1.2717620441208128,-1.3048341218448023,-1.5707963267948275,-0.412000388762583],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.579999999996804,"joint_targets_rad":[-1.9827967155574764,-1.537724249071527,1.2717620441208128,-1.3048341218448023,-1.5707963267948275,-0.412000388762583],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.599999999996793,"qpos":[-1.98279671556042,-1.5377242491073082,1.2717620442222493,-1.3048341219391837,-1.570796326793689,-0.4120003887636971,0.0029336111697784123,0.00015630155393600613,0.0031934794756442934,-0.003429298942134271,0.002933611076042445,0.00015630111346990688,0.003197849382004553,-0.0034379968904386946,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,5.25776446903226e-18,2.380869993235856e-17,-2.3178311567392945e-07],"qvel":[1.4467334217600198e-11,1.7976936301737502e-10,-5.131032280357706e-10,4.76915426712837e-10,-7.596543922821027e-13,5.633681225686321e-12,-5.484082946011805e-11,2.6096445817266364e-10,-7.09260205951303e-11,-1.0503420444890506e-10,2.092981564235666e-10,-1.8739883654737123e-10,2.2126783935252075e-10,-1.7819785202107865e-11,-2.6140193739867526e-17,7.867412824645485e-18,1.1932976870389494e-14,-5.105439435417644e-16,-5.075107816954349e-16,-1.0279071352647771e-08],"joint_position_rad":[-1.98279671556042,-1.5377242491073082,1.2717620442222493,-1.3048341219391837,-1.570796326793689,-0.4120003887636971],"joint_velocity_rad_s":[1.4467334217600198e-11,1.7976936301737502e-10,-5.131032280357706e-10,4.76915426712837e-10,-7.596543922821027e-13,5.633681225686321e-12],"linkage_position_rad":[0.0029336111697784123,0.00015630155393600613,0.0031934794756442934,-0.003429298942134271,0.002933611076042445,0.00015630111346990688,0.003197849382004553,-0.0034379968904386946],"tcp_position_m":[0.0743391893495594,0.5047373576533464,0.4349999999784462],"tcp_quaternion_wxyz":[-5.914672221463683e-12,0.7071067811871933,0.7071067811859014,1.3441746030927453e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,5.25776446903226e-18,2.380869993235856e-17,-2.3178311567392945e-07],"object_linear_velocity_m_s":[-2.6140193739867526e-17,7.867412824645485e-18,1.1932976870389494e-14],"object_angular_velocity_rad_s":[-5.105441792960328e-16,-5.075105449163588e-16,-1.0279071352647776e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221260832,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574764,-1.5485669366835813,1.261619068688611,-1.3096608189192738,-1.5707950771321164,-0.41200038876258294,0.0],"actuator_force":[1.0049916454590857e-10,-21.685375224453765,-20.28595086203495,-2.413348537736624,0.0006248308623071352,-6.281197784119286e-12,-0.29336111306332946],"issued_joint_targets_rad":[-1.9827967155574697,-1.5377242490714675,1.2717620441207116,-1.304834121844702,-1.5707963267948342,-0.41200038876257616],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.599999999996793,"joint_targets_rad":[-1.9827967155574697,-1.5377242490714675,1.2717620441207116,-1.304834121844702,-1.5707963267948342,-0.41200038876257616],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.619999999996782,"qpos":[-1.9827967155601487,-1.5377242491038896,1.2717620442125055,-1.3048341219301578,-1.5707963267938063,-0.41200038876358963,0.0029336111720984054,0.000156301563328247,0.003193479465708175,-0.003429298941726585,0.002933611073534819,0.00015630110760050424,0.0031978493873739155,-0.0034379968900852976,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,-2.3667558672799625e-17,1.9983967981465794e-17,-2.3217080163114218e-07],"qvel":[7.2068319752582195e-12,1.6290996866732485e-10,-4.659553232350505e-10,4.1909219674225713e-10,-3.118475823909106e-11,5.094558432249831e-12,-2.0564831240954876e-09,-1.1811504697379619e-08,1.1077171698976782e-08,1.1644019697452663e-09,1.3825672334226732e-09,7.729968861009462e-09,-7.500843914225932e-09,-5.996697113981587e-10,-2.514997279341714e-17,-4.139536337007566e-17,1.1992651357963101e-14,-2.7823993694465243e-15,-3.974893067797728e-16,-4.131864142303736e-08],"joint_position_rad":[-1.9827967155601487,-1.5377242491038896,1.2717620442125055,-1.3048341219301578,-1.5707963267938063,-0.41200038876358963],"joint_velocity_rad_s":[7.2068319752582195e-12,1.6290996866732485e-10,-4.659553232350505e-10,4.1909219674225713e-10,-3.118475823909106e-11,5.094558432249831e-12],"linkage_position_rad":[0.0029336111720984054,0.000156301563328247,0.003193479465708175,-0.003429298941726585,0.002933611073534819,0.00015630110760050424,0.0031978493873739155,-0.0034379968900852976],"tcp_position_m":[0.07433918934949371,0.5047373576534551,0.4349999999805203],"tcp_quaternion_wxyz":[-5.367603599134036e-12,0.7071067811871351,0.7071067811859596,1.2205807066442448e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,-2.3667558672799625e-17,1.9983967981465794e-17,-2.3217080163114218e-07],"object_linear_velocity_m_s":[-2.514997279341714e-17,-4.139536337007566e-17,1.1992651357963101e-14],"object_angular_velocity_rad_s":[-2.782399555668469e-15,-3.974880167517684e-16,-4.1318641423037386e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322129436,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574697,-1.5485669366835766,1.2616190686885276,-1.3096608189191647,-1.5707950771321242,-0.4120003887625761,0.0],"actuator_force":[2.475189830875024e-09,-21.685375224537893,-20.285950861573838,-2.4133485364126273,0.0006248339595913421,-2.7000623958883807e-12,-0.2933611089120817],"issued_joint_targets_rad":[-1.982796715557464,-1.5377242490714131,1.271762044120618,-1.3048341218446096,-1.57079632679484,-0.41200038876257034],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.619999999996782,"joint_targets_rad":[-1.982796715557464,-1.5377242490714131,1.271762044120618,-1.3048341218446096,-1.57079632679484,-0.41200038876257034],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.639999999996771,"qpos":[-1.9827967155598982,-1.5377242491007925,1.271762044203688,-1.3048341219219746,-1.570796326793884,-0.412000388763492,0.00293361117276072,0.00015630156849675525,0.003193479461083227,-0.0034292989425173366,0.0029336110734938564,0.00015630110417719605,0.0031978493910005163,-0.0034379968899470362,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,-2.5839826928647443e-17,1.289837824920523e-17,-2.3232746938378903e-07],"qvel":[1.3425667770967821e-11,1.476636207481951e-10,-4.1949829743530425e-10,3.916613874678756e-10,-4.3466637836364e-13,4.6575237061256136e-12,8.945575617014796e-10,4.472261553336365e-09,-4.383701648709253e-09,-3.0375431161260673e-10,-7.960492212935937e-10,-2.8930166746656984e-09,2.7334655771255972e-09,2.634583801960574e-10,-1.622402408456153e-17,-2.8236564237281205e-17,1.2042611394071237e-14,1.0430071165043336e-15,-7.972274473674667e-16,-4.47139723118405e-09],"joint_position_rad":[-1.9827967155598982,-1.5377242491007925,1.271762044203688,-1.3048341219219746,-1.570796326793884,-0.412000388763492],"joint_velocity_rad_s":[1.3425667770967821e-11,1.476636207481951e-10,-4.1949829743530425e-10,3.916613874678756e-10,-4.3466637836364e-13,4.6575237061256136e-12],"linkage_position_rad":[0.00293361117276072,0.00015630156849675525,0.003193479461083227,-0.0034292989425173366,0.0029336110734938564,0.00015630110417719605,0.0031978493910005163,-0.0034379968899470362],"tcp_position_m":[0.07433918934942399,0.5047373576535534,0.4349999999823937],"tcp_quaternion_wxyz":[-4.8819218165311356e-12,0.7071067811870811,0.7071067811860136,1.1073178642436327e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,-2.5839826928647443e-17,1.289837824920523e-17,-2.3232746938378903e-07],"object_linear_velocity_m_s":[-1.622402408456153e-17,-2.8236564237281205e-17,1.2042611394071237e-14],"object_angular_velocity_rad_s":[1.0430067459532035e-15,-7.972279322368693e-16,-4.471397231184053e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221304566,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557464,-1.548566936683572,1.26161906868845,-1.309660818919064,-1.57079507713213,-0.4120003887625703,0.0],"actuator_force":[-5.015863280277699e-10,-21.68537522462384,-20.285950862676145,-2.4133485377108173,0.0006248309204011093,-4.888534022029489e-12,-0.2933611128052705],"issued_joint_targets_rad":[-1.9827967155574586,-1.5377242490713645,1.2717620441205355,-1.3048341218445276,-1.570796326794845,-0.41200038876256406],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.639999999996771,"joint_targets_rad":[-1.9827967155574586,-1.5377242490713645,1.2717620441205355,-1.3048341218445276,-1.570796326794845,-0.41200038876256406],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.65999999999676,"qpos":[-1.9827967155596773,-1.537724249097986,1.271762044195707,-1.3048341219145787,-1.5707963267939864,-0.4120003887634031,0.0029336111700823822,0.00015630155620127687,0.00319347947366545,-0.0034292989425050782,0.0029336110759431025,0.00015630111199419462,0.0031978493833984224,-0.003437996890296397,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,-3.8986965402738924e-17,7.97612689175687e-18,-2.3276233237042335e-07],"qvel":[1.207605310848212e-11,1.3377588275833744e-10,-3.797770099951216e-10,3.555644040988518e-10,2.6084336016024472e-12,4.244960413367109e-12,4.259983034286491e-10,2.7449557626740443e-09,-2.5246182495942267e-09,-2.830236951760123e-10,-2.414613769613584e-10,-1.7811636367182635e-09,1.7145793406521124e-09,1.3286729395073067e-10,-1.2253462119106857e-17,-4.783724507462374e-17,1.149721433322413e-14,6.430418230872385e-16,-3.7870517730499893e-16,-1.797361381363371e-08],"joint_position_rad":[-1.9827967155596773,-1.537724249097986,1.271762044195707,-1.3048341219145787,-1.5707963267939864,-0.4120003887634031],"joint_velocity_rad_s":[1.207605310848212e-11,1.3377588275833744e-10,-3.797770099951216e-10,3.555644040988518e-10,2.6084336016024472e-12,4.244960413367109e-12],"linkage_position_rad":[0.0029336111700823822,0.00015630155620127687,0.00319347947366545,-0.0034292989425050782,0.0029336110759431025,0.00015630111199419462,0.0031978493833984224,-0.003437996890296397],"tcp_position_m":[0.07433918934937274,0.5047373576536426,0.43499999998408967],"tcp_quaternion_wxyz":[-4.429192120726182e-12,0.7071067811870344,0.7071067811860603,1.0058000176849859e-11],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,-3.8986965402738924e-17,7.97612689175687e-18,-2.3276233237042335e-07],"object_linear_velocity_m_s":[-1.2253462119106857e-17,-4.783724507462374e-17,1.149721433322413e-14],"object_angular_velocity_rad_s":[6.430416465038486e-16,-3.787054780582606e-16,-1.7973613813633725e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221266276,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574586,-1.5485669366835684,1.2616190686883821,-1.3096608189189745,-1.570795077132135,-0.412000388762564,0.0],"actuator_force":[-3.92901711165905e-10,-21.685375224675226,-20.2859508627389,-2.4133485377543593,0.000624830664946785,-4.945377440890297e-12,-0.2933611132239589],"issued_joint_targets_rad":[-1.9827967155574542,-1.5377242490713199,1.2717620441204598,-1.3048341218444526,-1.57079632679485,-0.4120003887625597],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.65999999999676,"joint_targets_rad":[-1.9827967155574542,-1.5377242490713199,1.2717620441204598,-1.3048341218444526,-1.57079632679485,-0.4120003887625597],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.679999999996749,"qpos":[-1.982796715559476,-1.537724249095443,1.2717620441884852,-1.3048341219078845,-1.570796326794086,-0.4120003887633223,0.0029336111710772206,0.0001563015579323949,0.003193479471021031,-0.0034292989413420745,0.0029336110745288245,0.00015630111110101046,0.003197849384136045,-0.003437996890443221,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,-2.5285634610488388e-17,1.3709741029608813e-17,-2.3305273176426583e-07],"qvel":[7.631614854022457e-12,1.211956204862637e-10,-3.449757844029693e-10,3.1735043749529353e-10,-7.073596702338768e-12,3.851518833682616e-12,-9.181212931896129e-10,-5.006920813311642e-09,4.854518697778119e-09,4.615536008213443e-10,8.744452366622289e-10,3.238877406757664e-09,-2.9572403910806555e-09,-3.7329537616330284e-10,-4.455914277908153e-17,-2.956465421165437e-17,1.1339007552215047e-14,1.4436648699382142e-15,2.1036538674092635e-15,-7.224828768703263e-08],"joint_position_rad":[-1.982796715559476,-1.537724249095443,1.2717620441884852,-1.3048341219078845,-1.570796326794086,-0.4120003887633223],"joint_velocity_rad_s":[7.631614854022457e-12,1.211956204862637e-10,-3.449757844029693e-10,3.1735043749529353e-10,-7.073596702338768e-12,3.851518833682616e-12],"linkage_position_rad":[0.0029336111710772206,0.0001563015579323949,0.003193479471021031,-0.0034292989413420745,0.0029336110745288245,0.00015630111110101046,0.003197849384136045,-0.003437996890443221],"tcp_position_m":[0.07433918934932768,0.504737357653723,0.43499999998562183],"tcp_quaternion_wxyz":[-4.0151124310545255e-12,0.7071067811869918,0.7071067811861027,9.137893069952456e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,-2.5285634610488388e-17,1.3709741029608813e-17,-2.3305273176426583e-07],"object_linear_velocity_m_s":[-4.455914277908153e-17,-2.956465421165437e-17,1.1339007552215047e-14],"object_angular_velocity_rad_s":[1.4436658484816082e-15,2.103653190855267e-15,-7.224828768703271e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221277815,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574542,-1.5485669366835648,1.2616190686883195,-1.309660818918893,-1.5707950771321404,-0.4120003887625597,0.0],"actuator_force":[9.904397302307189e-10,-21.685375224722065,-20.285950862340997,-2.4133485372392443,0.0006248316801702458,-3.836930773104541e-12,-0.293361112061922],"issued_joint_targets_rad":[-1.9827967155574497,-1.5377242490712795,1.2717620441203905,-1.3048341218443846,-1.5707963267948544,-0.41200038876255507],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.679999999996749,"joint_targets_rad":[-1.9827967155574497,-1.5377242490712795,1.2717620441203905,-1.3048341218443846,-1.5707963267948544,-0.41200038876255507],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.699999999996738,"qpos":[-1.9827967155592818,-1.5377242490931384,1.271762044181953,-1.3048341219018045,-1.570796326794133,-0.4120003887632488,0.0029336111736816715,0.00015630157284613472,0.0031934794568259147,-0.003429298942847968,0.0029336110726515255,0.00015630110137856526,0.003197849393610081,-0.003437996889647213,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,-1.3810689836777205e-17,1.7879797274342837e-17,-2.3332667535182532e-07],"qvel":[1.0331351086396961e-11,1.0989825166491773e-10,-3.107735851221205e-10,2.9066645013863035e-10,-7.339971382127018e-13,3.5040594783330984e-12,1.019446246514461e-09,4.690126432615654e-09,-4.674647271971062e-09,-2.552265240115481e-10,-9.590945284964455e-10,-3.0349281866962704e-09,2.8668362739232694e-09,2.806128465180466e-10,-1.9843955710843584e-17,-1.8325058777911038e-17,1.1215495240725497e-14,9.516220015713998e-16,-1.874614013350697e-16,-7.818524094586213e-09],"joint_position_rad":[-1.9827967155592818,-1.5377242490931384,1.271762044181953,-1.3048341219018045,-1.570796326794133,-0.4120003887632488],"joint_velocity_rad_s":[1.0331351086396961e-11,1.0989825166491773e-10,-3.107735851221205e-10,2.9066645013863035e-10,-7.339971382127018e-13,3.5040594783330984e-12],"linkage_position_rad":[0.0029336111736816715,0.00015630157284613472,0.0031934794568259147,-0.003429298942847968,0.0029336110726515255,0.00015630110137856526,0.003197849393610081,-0.003437996889647213],"tcp_position_m":[0.07433918934926854,0.5047373576537965,0.43499999998700317],"tcp_quaternion_wxyz":[-3.65565983863402e-12,0.7071067811869495,0.7071067811861454,8.284101111041423e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,-1.3810689836777205e-17,1.7879797274342837e-17,-2.3332667535182532e-07],"object_linear_velocity_m_s":[-1.9843955710843584e-17,-1.8325058777911038e-17,1.1215495240725497e-14],"object_angular_velocity_rad_s":[9.51621913812219e-16,-1.8746184562860352e-16,-7.818524094586221e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221317737,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574497,-1.5485669366835615,1.261619068688262,-1.3096608189188188,-1.5707950771321453,-0.41200038876255507,0.0],"actuator_force":[-4.68389771413058e-10,-21.685375224805284,-20.28595086307314,-2.4133485375738246,0.0006248310672845037,-3.552713678800501e-12,-0.2933611126184184],"issued_joint_targets_rad":[-1.9827967155574453,-1.5377242490712433,1.2717620441203286,-1.3048341218443231,-1.5707963267948586,-0.41200038876255096],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.699999999996738,"joint_targets_rad":[-1.9827967155574453,-1.5377242490712433,1.2717620441203286,-1.3048341218443231,-1.5707963267948586,-0.41200038876255096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.719999999996727,"qpos":[-1.9827967155591155,-1.53772424909105,1.2717620441760382,-1.3048341218963155,-1.5707963267942084,-0.4120003887631819,0.002933611170709577,0.00015630155991972755,0.0031934794702286645,-0.003429298942922412,0.002933611075484653,0.00015630110960663623,0.0031978493856177096,-0.0034379968900503017,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,-2.150310897599953e-17,2.292583385082818e-17,-2.3371998960165602e-07],"qvel":[9.872916990814152e-12,9.95623601984513e-11,-2.8110970473793393e-10,2.6462792799219264e-10,3.016490694012299e-12,3.191532200186119e-12,7.502518385528405e-10,4.1589188382704375e-09,-3.977468897239999e-09,-3.481088362542731e-10,-5.964029808571082e-10,-2.6851688614351973e-09,2.542317187636196e-09,2.345427042973661e-10,-3.193562923672044e-17,-3.2205058083991256e-17,1.1180800771205964e-14,-5.146474982045569e-16,1.2152052668949512e-16,-3.142801352765037e-08],"joint_position_rad":[-1.9827967155591155,-1.53772424909105,1.2717620441760382,-1.3048341218963155,-1.5707963267942084,-0.4120003887631819],"joint_velocity_rad_s":[9.872916990814152e-12,9.95623601984513e-11,-2.8110970473793393e-10,2.6462792799219264e-10,3.016490694012299e-12,3.191532200186119e-12],"linkage_position_rad":[0.002933611170709577,0.00015630155991972755,0.0031934794702286645,-0.003429298942922412,0.002933611075484653,0.00015630110960663623,0.0031978493856177096,-0.0034379968900503017],"tcp_position_m":[0.0743391893492293,0.5047373576538631,0.43499999998825467],"tcp_quaternion_wxyz":[-3.3172209798527314e-12,0.7071067811869141,0.7071067811861806,7.523761230585675e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,-2.150310897599953e-17,2.292583385082818e-17,-2.3371998960165602e-07],"object_linear_velocity_m_s":[-3.193562923672044e-17,-3.2205058083991256e-17,1.1180800771205964e-14],"object_angular_velocity_rad_s":[-5.14647442841976e-16,1.2152076590469821e-16,-3.142801352765041e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221276529,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574453,-1.5485669366835588,1.261619068688211,-1.3096608189187515,-1.5707950771321493,-0.41200038876255096,0.0],"actuator_force":[-6.089067028369755e-10,-21.685375224842574,-20.285950863210473,-2.413348537680804,0.0006248307279292931,-3.694822225952521e-12,-0.2933611130789558],"issued_joint_targets_rad":[-1.9827967155574417,-1.53772424907121,1.271762044120272,-1.3048341218442676,-1.5707963267948621,-0.4120003887625473],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.719999999996727,"joint_targets_rad":[-1.9827967155574417,-1.53772424907121,1.271762044120272,-1.3048341218442676,-1.5707963267948621,-0.4120003887625473],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.739999999996716,"qpos":[-1.9827967155589656,-1.5377242490891567,1.2717620441706852,-1.30483412189135,-1.5707963267942888,-0.41200038876312123,0.002933611170773756,0.00015630155685012509,0.0031934794722680796,-0.0034292989413555737,0.002933611075005889,0.0001563011117864418,0.003197849383608186,-0.003437996890581768,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,-1.6972151392183013e-17,1.6546939940986812e-17,-2.338391550940332e-07],"qvel":[7.490255741057579e-12,9.016057702064046e-11,-2.551085905100831e-10,2.389019087573522e-10,2.544087904136746e-12,2.9065053430030004e-12,-1.8381188486795326e-10,-6.345821912373295e-10,7.142397420872737e-10,5.113878186463524e-11,3.4816510623978767e-10,3.9161686377598996e-10,-2.1763246479159484e-10,-1.5250144146838005e-10,-2.0688034117624235e-17,-2.040657176923288e-17,1.1096146265578294e-14,7.224498089132604e-16,-8.089217149662616e-16,-3.4010588884175254e-09],"joint_position_rad":[-1.9827967155589656,-1.5377242490891567,1.2717620441706852,-1.30483412189135,-1.5707963267942888,-0.41200038876312123],"joint_velocity_rad_s":[7.490255741057579e-12,9.016057702064046e-11,-2.551085905100831e-10,2.389019087573522e-10,2.544087904136746e-12,2.9065053430030004e-12],"linkage_position_rad":[0.002933611170773756,0.00015630155685012509,0.0031934794722680796,-0.0034292989413555737,0.002933611075005889,0.0001563011117864418,0.003197849383608186,-0.003437996890581768],"tcp_position_m":[0.07433918934919755,0.504737357653923,0.4349999999893861],"tcp_quaternion_wxyz":[-3.0050779977400432e-12,0.7071067811868825,0.7071067811862122,6.837347516662992e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,-1.6972151392183013e-17,1.6546939940986812e-17,-2.338391550940332e-07],"object_linear_velocity_m_s":[-2.0688034117624235e-17,-2.040657176923288e-17,1.1096146265578294e-14],"object_angular_velocity_rad_s":[7.224494304854873e-16,-8.089220529557266e-16,-3.40105888841753e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322127265,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574417,-1.5485669366835562,1.261619068688164,-1.3096608189186911,-1.5707950771321533,-0.4120003887625473,0.0],"actuator_force":[5.184119800105691e-11,-21.685375224863037,-20.28595086299856,-2.4133485375607506,0.000624830813421795,-3.666400516522117e-12,-0.29336111311074836],"issued_joint_targets_rad":[-1.9827967155574389,-1.5377242490711802,1.271762044120222,-1.304834121844218,-1.5707963267948655,-0.4120003887625438],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.739999999996716,"joint_targets_rad":[-1.9827967155574389,-1.5377242490711802,1.271762044120222,-1.304834121844218,-1.5707963267948655,-0.4120003887625438],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.759999999996705,"qpos":[-1.9827967155588244,-1.5377242490874417,1.271762044165843,-1.304834121886848,-1.5707963267943494,-0.4120003887630659,0.002933611171306328,0.00015630155956128318,0.003193479469428755,-0.0034292989417521913,0.0029336110743066915,0.0001563011100225978,0.003197849385195652,-0.00343799689023389,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,-1.6268706787020422e-17,5.221943254201021e-18,-2.3431816298108923e-07],"qvel":[5.384716994987857e-13,8.172573456819667e-11,-2.3257022278191426e-10,2.02599717676883e-10,-3.068457326851252e-11,2.6104269442144485e-12,-2.2773211337440064e-09,-1.2948510098194794e-08,1.2187296523373861e-08,1.1798873137292656e-09,1.5422518753541858e-09,8.430853010076905e-09,-8.187134945565597e-09,-6.059718942927843e-10,-7.56606047213392e-18,-1.904517665677422e-17,1.1032308441662347e-14,6.10585827372179e-16,-5.61914863512119e-16,-1.367118953142731e-08],"joint_position_rad":[-1.9827967155588244,-1.5377242490874417,1.271762044165843,-1.304834121886848,-1.5707963267943494,-0.4120003887630659],"joint_velocity_rad_s":[5.384716994987857e-13,8.172573456819667e-11,-2.3257022278191426e-10,2.02599717676883e-10,-3.068457326851252e-11,2.6104269442144485e-12],"linkage_position_rad":[0.002933611171306328,0.00015630155956128318,0.003193479469428755,-0.0034292989417521913,0.0029336110743066915,0.0001563011100225978,0.003197849385195652,-0.00343799689023389],"tcp_position_m":[0.07433918934916232,0.5047373576539775,0.43499999999040717],"tcp_quaternion_wxyz":[-2.7261696221266994e-12,0.7071067811868522,0.7071067811862425,6.208482990004094e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,-1.6268706787020422e-17,5.221943254201021e-18,-2.3431816298108923e-07],"object_linear_velocity_m_s":[-7.56606047213392e-18,-1.904517665677422e-17,1.1032308441662347e-14],"object_angular_velocity_rad_s":[6.105855638956153e-16,-5.619151500995821e-16,-1.367118953142733e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221282747,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574389,-1.5485669366835542,1.2616190686881228,-1.3096608189186372,-1.570795077132157,-0.4120003887625438,0.0],"actuator_force":[2.5556801119819283e-09,-21.685375224915333,-20.285950862412392,-2.413348536154672,0.0006248341645687105,-2.842170943040401e-14,-0.2933611086053047],"issued_joint_targets_rad":[-1.9827967155574358,-1.5377242490711533,1.2717620441201758,-1.3048341218441717,-1.5707963267948681,-0.4120003887625412],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.759999999996705,"joint_targets_rad":[-1.9827967155574358,-1.5377242490711533,1.2717620441201758,-1.3048341218441717,-1.5707963267948681,-0.4120003887625412],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.779999999996694,"qpos":[-1.9827967155586912,-1.5377242490858876,1.271762044161462,-1.3048341218827604,-1.5707963267943759,-0.4120003887630156,0.0029336111715574107,0.0001563015643479831,0.0031934794659845248,-0.0034292989433518783,0.002933611074757985,0.0001563011067396773,0.003197849388287678,-0.0034379968897432036,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,-8.06135574518444e-18,-1.3813437751030894e-17,-2.3463776362595205e-07],"qvel":[7.897284501701659e-12,7.409616381852693e-11,-2.0810968435245788e-10,1.9664648220006882e-10,2.288094581960482e-12,2.398291647533601e-12,9.663174922143021e-10,4.864105130922328e-09,-4.75158411039604e-09,-3.400458028921858e-10,-8.577181645559814e-10,-3.1339265331520547e-09,2.949251379854957e-09,2.903102446706196e-10,3.5097769986236596e-17,-5.633330856242262e-18,1.0904632793830453e-14,8.450437461918287e-16,-3.02015801856328e-15,-5.495389210717435e-08],"joint_position_rad":[-1.9827967155586912,-1.5377242490858876,1.271762044161462,-1.3048341218827604,-1.5707963267943759,-0.4120003887630156],"joint_velocity_rad_s":[7.897284501701659e-12,7.409616381852693e-11,-2.0810968435245788e-10,1.9664648220006882e-10,2.288094581960482e-12,2.398291647533601e-12],"linkage_position_rad":[0.0029336111715574107,0.0001563015643479831,0.0031934794659845248,-0.0034292989433518783,0.002933611074757985,0.0001563011067396773,0.003197849388287678,-0.0034379968897432036],"tcp_position_m":[0.07433918934911991,0.5047373576540272,0.43499999999132827],"tcp_quaternion_wxyz":[-2.4838613170112866e-12,0.7071067811868228,0.7071067811862717,5.6261156664438346e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,-8.06135574518444e-18,-1.3813437751030894e-17,-2.3463776362595205e-07],"object_linear_velocity_m_s":[3.5097769986236596e-17,-5.633330856242262e-18,1.0904632793830453e-14],"object_angular_velocity_rad_s":[8.450423304236947e-16,-3.0201584160073084e-15,-5.495389210717445e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221289432,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574358,-1.5485669366835522,1.2616190686880846,-1.3096608189185865,-1.5707950771321595,-0.4120003887625412,0.0],"actuator_force":[-6.484697223640978e-10,-21.68537522496763,-20.285950863511516,-2.41334853757769,0.0006248308792464741,-2.6432189770275727e-12,-0.2933611128587664],"issued_joint_targets_rad":[-1.9827967155574333,-1.5377242490711291,1.2717620441201347,-1.3048341218441315,-1.5707963267948708,-0.41200038876253803],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.779999999996694,"joint_targets_rad":[-1.9827967155574333,-1.5377242490711291,1.2717620441201347,-1.3048341218441315,-1.5707963267948708,-0.41200038876253803],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.799999999996682,"qpos":[-1.9827967155585802,-1.5377242490844796,1.271762044157494,-1.304834121879076,-1.5707963267944376,-0.4120003887629698,0.0029336111709616234,0.00015630155846978465,0.003193479470869018,-0.003429298941597348,0.0029336110750223165,0.0001563011107126847,0.0031978493847004685,-0.003437996890546944,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,-3.4015604760104622e-18,-2.073928934029038e-17,-2.348461321124054e-07],"qvel":[6.902156948129742e-12,6.708078411362974e-11,-1.8855263210753336e-10,1.7902946174533204e-10,5.350702026691985e-12,2.188888101906519e-12,3.0699675131919046e-10,2.074002931233167e-09,-1.9286595338367106e-09,-1.7342297457588338e-10,-1.1060722888219806e-10,-1.355693416867813e-09,1.3967286263628472e-09,2.5083518574425392e-11,2.0747939955410013e-17,-5.203138928362277e-18,1.0843570527476068e-14,1.9905396721493878e-16,4.886267222936487e-16,-5.946969032573497e-09],"joint_position_rad":[-1.9827967155585802,-1.5377242490844796,1.271762044157494,-1.304834121879076,-1.5707963267944376,-0.4120003887629698],"joint_velocity_rad_s":[6.902156948129742e-12,6.708078411362974e-11,-1.8855263210753336e-10,1.7902946174533204e-10,5.350702026691985e-12,2.188888101906519e-12],"linkage_position_rad":[0.0029336111709616234,0.00015630155846978465,0.003193479470869018,-0.003429298941597348,0.0029336110750223165,0.0001563011107126847,0.0031978493847004685,-0.003437996890546944],"tcp_position_m":[0.07433918934909696,0.5047373576540718,0.43499999999216454],"tcp_quaternion_wxyz":[-2.250089615456799e-12,0.7071067811867997,0.707106781186295,5.114210035071327e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,-3.4015604760104622e-18,-2.073928934029038e-17,-2.348461321124054e-07],"object_linear_velocity_m_s":[2.0747939955410013e-17,-5.203138928362277e-18,1.0843570527476068e-14],"object_angular_velocity_rad_s":[1.9905419696578057e-16,4.886266287590291e-16,-5.9469690325735076e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322127581,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574333,-1.5485669366835508,1.2616190686880508,-1.3096608189185426,-1.5707950771321624,-0.41200038876253803,0.0],"actuator_force":[-4.670255293603987e-10,-21.685375224974905,-20.285950863464677,-2.4133485376362387,0.0006248306025327111,-2.9842794901924208e-12,-0.2933611132811446],"issued_joint_targets_rad":[-1.9827967155574306,-1.5377242490711074,1.2717620441200976,-1.3048341218440942,-1.5707963267948732,-0.4120003887625355],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.799999999996682,"joint_targets_rad":[-1.9827967155574306,-1.5377242490711074,1.2717620441200976,-1.3048341218440942,-1.5707963267948732,-0.4120003887625355],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.819999999996671,"qpos":[-1.9827967155584763,-1.5377242490832037,1.2717620441539048,-1.3048341218757395,-1.5707963267944953,-0.41200038876292816,0.0029336111701488902,0.00015630155357553604,0.0031934794753799883,-0.003429298941403074,0.0029336110754234973,0.00015630111385114012,0.0031978493816433124,-0.003437996890584334,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999734,1.9667290811245227e-17,-3.372908529265889e-17,-2.3529396624900868e-07],"qvel":[2.7831495766397758e-12,6.076520150021062e-11,-1.7198442232672217e-10,1.571859774692851e-10,-5.34004276224802e-12,1.9836051546745417e-12,-1.0403291460186387e-09,-5.5454358086117295e-09,5.432630107052604e-09,4.2170634226056815e-10,9.947412940008935e-10,3.5589014103764624e-09,-3.268238828885747e-09,-3.663595198123008e-10,4.291860547931828e-17,2.267926859444095e-17,1.0803324942833407e-14,7.525503547833069e-16,2.3937267327708134e-17,-2.3904949443466444e-08],"joint_position_rad":[-1.9827967155584763,-1.5377242490832037,1.2717620441539048,-1.3048341218757395,-1.5707963267944953,-0.41200038876292816],"joint_velocity_rad_s":[2.7831495766397758e-12,6.076520150021062e-11,-1.7198442232672217e-10,1.571859774692851e-10,-5.34004276224802e-12,1.9836051546745417e-12],"linkage_position_rad":[0.0029336111701488902,0.00015630155357553604,0.0031934794753799883,-0.003429298941403074,0.0029336110754234973,0.00015630111385114012,0.0031978493816433124,-0.003437996890584334],"tcp_position_m":[0.07433918934907492,0.504737357654112,0.43499999999291905],"tcp_quaternion_wxyz":[-2.0365659878466305e-12,0.7071067811867778,0.7071067811863169,4.6482048914075e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999734,1.9667290811245227e-17,-3.372908529265889e-17,-2.3529396624900868e-07],"object_linear_velocity_m_s":[4.291860547931828e-17,2.267926859444095e-17,1.0803324942833407e-14],"object_angular_velocity_rad_s":[7.525503676603985e-16,2.393691412688078e-17,-2.390494944346649e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221263735,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574306,-1.5485669366835495,1.2616190686880202,-1.3096608189185017,-1.570795077132165,-0.4120003887625355,0.0],"actuator_force":[9.781615517567843e-10,-21.685375224998097,-20.28595086297537,-2.413348537099637,0.0006248316991559477,-2.0179413695586845e-12,-0.2933611120506801],"issued_joint_targets_rad":[-1.9827967155574289,-1.5377242490710874,1.2717620441200626,-1.3048341218440598,-1.5707963267948755,-0.4120003887625333],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.819999999996671,"joint_targets_rad":[-1.9827967155574289,-1.5377242490710874,1.2717620441200626,-1.3048341218440598,-1.5707963267948755,-0.4120003887625333],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.83999999999666,"qpos":[-1.9827967155583717,-1.5377242490820475,1.2717620441506603,-1.304834121872699,-1.570796326794502,-0.4120003887628903,0.0029336111725440242,0.0001563015690481449,0.003193479461404603,-0.003429298943722998,0.0029336110738487223,0.0001563011036983801,0.0031978493911090414,-0.003437996889418492,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,1.1985659198002349e-17,-2.6268831914187418e-17,-2.3548360788110646e-07],"qvel":[6.178552974014686e-12,5.514409524985538e-11,-1.5410952491699499e-10,1.4592137327057927e-10,1.2792220495883404e-12,1.8036021308517286e-12,1.1034502851984986e-09,5.10682276882255e-09,-5.0759802680577884e-09,-2.8592857687485493e-10,-1.0366547140691866e-09,-3.2878304995225174e-09,3.094607628316685e-09,3.088851455428302e-10,5.59097109395502e-17,-3.5577490716277714e-17,1.098928729945812e-14,-4.990090553526159e-15,-8.238218275383625e-16,-9.609039575726802e-08],"joint_position_rad":[-1.9827967155583717,-1.5377242490820475,1.2717620441506603,-1.304834121872699,-1.570796326794502,-0.4120003887628903],"joint_velocity_rad_s":[6.178552974014686e-12,5.514409524985538e-11,-1.5410952491699499e-10,1.4592137327057927e-10,1.2792220495883404e-12,1.8036021308517286e-12],"linkage_position_rad":[0.0029336111725440242,0.0001563015690481449,0.003193479461404603,-0.003429298943722998,0.0029336110738487223,0.0001563011036983801,0.0031978493911090414,-0.003437996889418492],"tcp_position_m":[0.07433918934903666,0.504737357654149,0.4349999999935975],"tcp_quaternion_wxyz":[-1.859841787798994e-12,0.7071067811867542,0.7071067811863405,4.206312742433864e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,1.1985659198002349e-17,-2.6268831914187418e-17,-2.3548360788110646e-07],"object_linear_velocity_m_s":[5.59097109395502e-17,-3.5577490716277714e-17,1.098928729945812e-14],"object_angular_velocity_rad_s":[-4.9900909364703125e-15,-8.238194750658044e-16,-9.609039575726801e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221303536,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574289,-1.5485669366835484,1.261619068687991,-1.3096608189184642,-1.5707950771321675,-0.4120003887625333,0.0],"actuator_force":[-5.857145879417658e-10,-21.685375225059488,-20.285950863695234,-2.4133485374746897,0.0006248310393175416,-1.8758328224066645e-12,-0.2933611126536152],"issued_joint_targets_rad":[-1.9827967155574266,-1.5377242490710685,1.2717620441200312,-1.3048341218440294,-1.5707963267948777,-0.41200038876253126],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.83999999999666,"joint_targets_rad":[-1.9827967155574266,-1.5377242490710685,1.2717620441200312,-1.3048341218440294,-1.5707963267948777,-0.41200038876253126],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.85999999999665,"qpos":[-1.982796715558289,-1.5377242490810001,1.2717620441477193,-1.3048341218699653,-1.5707963267945486,-0.4120003887628559,0.0029336111714799123,0.0001563015616730575,0.003193479467874358,-0.0034292989419476964,0.002933611074675609,0.00015630110862698397,0.0031978493867053604,-0.003437996890381321,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,-6.751231789001732e-18,-2.1553547410896416e-17,-2.3584795350903024e-07],"qvel":[6.0472278783614846e-12,4.992608460594447e-11,-1.393727807510491e-10,1.3367909095971043e-10,5.211606850759454e-12,1.645603848900287e-12,6.405044984019076e-10,3.654886548629913e-09,-3.5204065069337765e-09,-2.7677423871336454e-10,-4.758832639726918e-10,-2.3698996704292052e-09,2.30667539942254e-09,1.5196928085994453e-10,2.6761865321252226e-17,-6.219493512002937e-18,1.1627665538617583e-14,-3.958610149217952e-16,9.71162583406989e-16,-1.0398655781863367e-08],"joint_position_rad":[-1.982796715558289,-1.5377242490810001,1.2717620441477193,-1.3048341218699653,-1.5707963267945486,-0.4120003887628559],"joint_velocity_rad_s":[6.0472278783614846e-12,4.992608460594447e-11,-1.393727807510491e-10,1.3367909095971043e-10,5.211606850759454e-12,1.645603848900287e-12],"linkage_position_rad":[0.0029336111714799123,0.0001563015616730575,0.003193479467874358,-0.0034292989419476964,0.002933611074675609,0.00015630110862698397,0.0031978493867053604,-0.003437996890381321],"tcp_position_m":[0.07433918934901973,0.5047373576541823,0.4349999999942151],"tcp_quaternion_wxyz":[-1.6849707915869133e-12,0.7071067811867371,0.7071067811863576,3.823747843425727e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,-6.751231789001732e-18,-2.1553547410896416e-17,-2.3584795350903024e-07],"object_linear_velocity_m_s":[2.6761865321252226e-17,-6.219493512002937e-18,1.1627665538617583e-14],"object_angular_velocity_rad_s":[-3.9586055638007975e-16,9.71162769992494e-16,-1.0398655781863369e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221284307,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574266,-1.5485669366835464,1.261619068687965,-1.309660818918431,-1.5707950771321697,-0.41200038876253126,0.0],"actuator_force":[-6.939444574527442e-10,-21.68537522506267,-20.285950863759354,-2.4133485376006547,0.0006248306682437033,-2.2453150450019166e-12,-0.29336111313088226],"issued_joint_targets_rad":[-1.9827967155574249,-1.5377242490710523,1.2717620441200037,-1.3048341218440014,-1.5707963267948792,-0.4120003887625293],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.85999999999665,"joint_targets_rad":[-1.9827967155574249,-1.5377242490710523,1.2717620441200037,-1.3048341218440014,-1.5707963267948792,-0.4120003887625293],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.879999999996638,"qpos":[-1.9827967155582134,-1.5377242490800513,1.271762044145058,-1.3048341218674915,-1.5707963267945968,-0.4120003887628246,0.002933611169778047,0.0001563015523092013,0.0031934794768587187,-0.003429298941492948,0.002933611075980181,0.00015630111463256166,0.0031978493809973214,-0.003437996890704247,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,1.0303244995176567e-17,-2.7003589239419076e-17,-2.3624014971841972e-07],"qvel":[3.981634229807622e-12,4.519446058036504e-11,-1.268550435075945e-10,1.2031182941587967e-10,4.508367407472126e-12,1.4997489455427837e-12,-2.4175936879559213e-10,-7.77509053887348e-10,9.228482267939458e-10,-1.830911218912852e-11,4.240511152886532e-10,4.699472181624778e-10,-3.0966194980224923e-10,-1.3246813160585905e-10,4.347552430096655e-17,2.3122431418519804e-17,1.1726197832053066e-14,1.7776340944206295e-15,-8.068141568934443e-16,-4.179933330511548e-08],"joint_position_rad":[-1.9827967155582134,-1.5377242490800513,1.271762044145058,-1.3048341218674915,-1.5707963267945968,-0.4120003887628246],"joint_velocity_rad_s":[3.981634229807622e-12,4.519446058036504e-11,-1.268550435075945e-10,1.2031182941587967e-10,4.508367407472126e-12,1.4997489455427837e-12],"linkage_position_rad":[0.002933611169778047,0.0001563015523092013,0.0031934794768587187,-0.003429298941492948,0.002933611075980181,0.00015630111463256166,0.0031978493809973214,-0.003437996890704247],"tcp_position_m":[0.07433918934900571,0.5047373576542121,0.43499999999477346],"tcp_quaternion_wxyz":[-1.523610449400337e-12,0.7071067811867215,0.7071067811863732,3.4780743370129494e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,1.0303244995176567e-17,-2.7003589239419076e-17,-2.3624014971841972e-07],"object_linear_velocity_m_s":[4.347552430096655e-17,2.3122431418519804e-17,1.1726197832053066e-14],"object_angular_velocity_rad_s":[1.7776337154741012e-15,-8.068149959291066e-16,-4.179933330511549e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221257874,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574249,-1.5485669366835455,1.2616190686879423,-1.3096608189184005,-1.5707950771321713,-0.4120003887625293,0.0],"actuator_force":[-1.546140993013978e-11,-21.685375225065854,-20.285950863489234,-2.4133485374857173,0.0006248307619216575,-2.3590018827235326e-12,-0.29336111319937014],"issued_joint_targets_rad":[-1.982796715557423,-1.5377242490710377,1.2717620441199782,-1.3048341218439765,-1.570796326794881,-0.4120003887625276],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.879999999996638,"joint_targets_rad":[-1.982796715557423,-1.5377242490710377,1.2717620441199782,-1.3048341218439765,-1.570796326794881,-0.4120003887625276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.899999999996627,"qpos":[-1.9827967155581387,-1.5377242490791914,1.271762044142652,-1.304834121865246,-1.57079632679463,-0.4120003887627961,0.002933611169938396,0.00015630155453219354,0.0031934794751842157,-0.0034292989425244846,0.0029336110756538127,0.0001563011131084164,0.003197849381919817,-0.003437996890049056,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,1.468032639045982e-17,-2.2327657399990116e-17,-2.363986401088466e-07],"qvel":[-3.249176878840928e-12,4.098081270375284e-11,-1.1669675745396745e-10,9.396424110972046e-11,-3.1888677339655156e-11,1.3277372192700758e-12,-2.4953721059002595e-09,-1.4156900766800805e-08,1.3339943330026068e-08,1.2834185824683785e-09,1.686307150978758e-09,9.174626081862296e-09,-8.92659041659477e-09,-6.562158164243449e-10,2.6395941280123783e-17,1.450927822746934e-17,1.1556888820797731e-14,-3.016278070808341e-16,1.0635095139321467e-15,-4.523416471811006e-09],"joint_position_rad":[-1.9827967155581387,-1.5377242490791914,1.271762044142652,-1.304834121865246,-1.57079632679463,-0.4120003887627961],"joint_velocity_rad_s":[-3.249176878840928e-12,4.098081270375284e-11,-1.1669675745396745e-10,9.396424110972046e-11,-3.1888677339655156e-11,1.3277372192700758e-12],"linkage_position_rad":[0.002933611169938396,0.00015630155453219354,0.0031934794751842157,-0.0034292989425244846,0.0029336110756538127,0.0001563011131084164,0.003197849381919817,-0.003437996890049056],"tcp_position_m":[0.0743391893489866,0.5047373576542392,0.43499999999527605],"tcp_quaternion_wxyz":[-1.38053165420351e-12,0.7071067811867051,0.7071067811863896,3.1584295300908403e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,1.468032639045982e-17,-2.2327657399990116e-17,-2.363986401088466e-07],"object_linear_velocity_m_s":[2.6395941280123783e-17,1.450927822746934e-17,1.1556888820797731e-14],"object_angular_velocity_rad_s":[-3.016273040544002e-16,1.0635096566736456e-15,-4.523416471811008e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221265154,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557423,-1.5485669366835448,1.2616190686879212,-1.3096608189183734,-1.5707950771321735,-0.4120003887625276,0.0],"actuator_force":[2.730757842073217e-09,-21.68537522509905,-20.28595086278301,-2.4133485359602673,0.0006248344172945508,1.4779288903810084e-12,-0.29336110823428563],"issued_joint_targets_rad":[-1.982796715557422,-1.5377242490710241,1.2717620441199555,-1.304834121843954,-1.5707963267948823,-0.41200038876252654],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.899999999996627,"joint_targets_rad":[-1.982796715557422,-1.5377242490710241,1.2717620441199555,-1.304834121843954,-1.5707963267948823,-0.41200038876252654],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.919999999996616,"qpos":[-1.9827967155580686,-1.537724249078412,1.2717620441404753,-1.3048341218632027,-1.5707963267946319,-0.41200038876277034,0.0029336111722262624,0.00015630156573660843,0.0031934794639780838,-0.003429298942318276,0.0029336110740528433,0.0001563011059988101,0.0031978493891873902,-0.003437996890131988,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,2.926621000728001e-18,-3.534780876780636e-17,-2.368385621947224e-07],"qvel":[5.0721212462378355e-12,3.7163988861249e-11,-1.0304690485790801e-10,9.950187091301982e-11,4.014671067668757e-12,1.2342941688339921e-12,8.653635946967921e-10,4.480671447068467e-09,-4.394310691592531e-09,-3.0149729673188174e-10,-7.478956548955696e-10,-2.8998118059521753e-09,2.7723247197087118e-09,2.3001883911808567e-10,4.519405004832672e-17,2.7227907003570762e-18,1.1515255457374289e-14,-6.398971296502584e-16,4.514777960818578e-16,-1.8182714838110103e-08],"joint_position_rad":[-1.9827967155580686,-1.537724249078412,1.2717620441404753,-1.3048341218632027,-1.5707963267946319,-0.41200038876277034],"joint_velocity_rad_s":[5.0721212462378355e-12,3.7163988861249e-11,-1.0304690485790801e-10,9.950187091301982e-11,4.014671067668757e-12,1.2342941688339921e-12],"linkage_position_rad":[0.0029336111722262624,0.00015630156573660843,0.0031934794639780838,-0.003429298942318276,0.0029336110740528433,0.0001563011059988101,0.0031978493891873902,-0.003437996890131988],"tcp_position_m":[0.07433918934896049,0.5047373576542641,0.4349999999957289],"tcp_quaternion_wxyz":[-1.2618427246811206e-12,0.7071067811866895,0.7071067811864052,2.8580580185755848e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,2.926621000728001e-18,-3.534780876780636e-17,-2.368385621947224e-07],"object_linear_velocity_m_s":[4.519405004832672e-17,2.7227907003570762e-18,1.1515255457374289e-14],"object_angular_velocity_rad_s":[-6.398969145100446e-16,4.514780992928672e-16,-1.8182714838110116e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221295941,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557422,-1.5485669366835437,1.2616190686879025,-1.3096608189183487,-1.5707950771321748,-0.41200038876252654,0.0],"actuator_force":[-7.353264663834125e-10,-21.685375225129064,-20.285950863927155,-2.413348537523234,0.0006248308270642156,-1.5347723092418164e-12,-0.29336111290129496],"issued_joint_targets_rad":[-1.9827967155574207,-1.537724249071012,1.2717620441199347,-1.3048341218439337,-1.570796326794884,-0.4120003887625252],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.919999999996616,"joint_targets_rad":[-1.9827967155574207,-1.537724249071012,1.2717620441199347,-1.3048341218439337,-1.570796326794884,-0.4120003887625252],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.939999999996605,"qpos":[-1.9827967155580128,-1.5377242490777057,1.2717620441385027,-1.3048341218613677,-1.570796326794669,-0.41200038876274686,0.0029336111699391964,0.00015630155400262388,0.0031934794754696462,-0.003429298941811887,0.00293361107603841,0.00015630111351787275,0.003197849382105372,-0.0034379968906317203,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,3.758540240865617e-18,-2.3996502018138583e-17,-2.3713234003050703e-07],"qvel":[4.36679976343449e-12,3.362606267910877e-11,-9.347017407073966e-11,9.116375695014751e-11,7.122253258555619e-12,1.1284918527691402e-12,2.9259763863270833e-10,2.179215501672354e-09,-1.9572786369973458e-09,-2.5622424144990026e-10,-7.518349829999461e-11,-1.4280257254679278e-09,1.439403161462148e-09,5.7322677376078185e-11,3.2026478857916066e-17,2.4691910926325016e-17,1.1420886500281158e-14,1.0197309385111855e-15,9.611313559490514e-16,-7.308880819274337e-08],"joint_position_rad":[-1.9827967155580128,-1.5377242490777057,1.2717620441385027,-1.3048341218613677,-1.570796326794669,-0.41200038876274686],"joint_velocity_rad_s":[4.36679976343449e-12,3.362606267910877e-11,-9.347017407073966e-11,9.116375695014751e-11,7.122253258555619e-12,1.1284918527691402e-12],"linkage_position_rad":[0.0029336111699391964,0.00015630155400262388,0.0031934794754696462,-0.003429298941811887,0.00293361107603841,0.00015630111351787275,0.003197849382105372,-0.0034379968906317203],"tcp_position_m":[0.0743391893489506,0.5047373576542864,0.43499999999614103],"tcp_quaternion_wxyz":[-1.1408429169048885e-12,0.707106781186678,0.7071067811864167,2.6000325962851707e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,3.758540240865617e-18,-2.3996502018138583e-17,-2.3713234003050703e-07],"object_linear_velocity_m_s":[3.2026478857916066e-17,2.4691910926325016e-17,1.1420886500281158e-14],"object_angular_velocity_rad_s":[1.0197313978494783e-15,9.611308728759904e-16,-7.308880819274342e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221260966,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574207,-1.548566936683543,1.2616190686878852,-1.3096608189183263,-1.5707950771321761,-0.4120003887625252,0.0],"actuator_force":[-5.620677256956697e-10,-21.68537522512497,-20.28595086384712,-2.4133485375956525,0.0006248305340932347,-2.0179413695586845e-12,-0.29336111338595106],"issued_joint_targets_rad":[-1.982796715557419,-1.5377242490710006,1.2717620441199153,-1.3048341218439146,-1.5707963267948852,-0.4120003887625234],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.939999999996605,"joint_targets_rad":[-1.982796715557419,-1.5377242490710006,1.2717620441199153,-1.3048341218439146,-1.5707963267948852,-0.4120003887625234],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.959999999996594,"qpos":[-1.9827967155579604,-1.5377242490770657,1.2717620441367186,-1.304834121859707,-1.5707963267947072,-0.41200038876272543,0.002933611168666126,0.00015630154798386233,0.0031934794816953415,-0.0034292989421467936,0.002933611076876177,0.00015630111728469557,0.0031978493780393472,-0.003437996890423575,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,6.482082783239267e-18,-1.495562844975234e-17,-2.3740947061681928e-07],"qvel":[1.4641626108651874e-13,3.04467216422727e-11,-8.608466079813993e-11,7.717900649891987e-11,-4.637568045845488e-12,1.0209050336935437e-12,-1.1415196355929892e-09,-6.070019094839858e-09,5.958595452390959e-09,4.537653888403093e-10,1.0915643255217126e-09,3.8771271839049775e-09,-3.56744478415393e-09,-3.9651448801757626e-10,2.0226609905836273e-17,8.08675349699882e-18,1.128904751610692e-14,-9.192879421686614e-17,1.1319191857670481e-15,-7.909483064498025e-09],"joint_position_rad":[-1.9827967155579604,-1.5377242490770657,1.2717620441367186,-1.304834121859707,-1.5707963267947072,-0.41200038876272543],"joint_velocity_rad_s":[1.4641626108651874e-13,3.04467216422727e-11,-8.608466079813993e-11,7.717900649891987e-11,-4.637568045845488e-12,1.0209050336935437e-12],"linkage_position_rad":[0.002933611168666126,0.00015630154798386233,0.0031934794816953415,-0.0034292989421467936,0.002933611076876177,0.00015630111728469557,0.0031978493780393472,-0.003437996890423575],"tcp_position_m":[0.07433918934894174,0.5047373576543064,0.43499999999651306],"tcp_quaternion_wxyz":[-1.0290061194428072e-12,0.707106781186667,0.7071067811864272,2.3663760029808334e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,6.482082783239267e-18,-1.495562844975234e-17,-2.3740947061681928e-07],"object_linear_velocity_m_s":[2.0226609905836273e-17,8.08675349699882e-18,1.128904751610692e-14],"object_angular_velocity_rad_s":[-9.19282565236039e-17,1.131919229518994e-15,-7.909483064498032e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221244286,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557419,-1.548566936683542,1.261619068687869,-1.3096608189183054,-1.5707950771321775,-0.4120003887625234,0.0],"actuator_force":[1.0240910341963172e-09,-21.685375225131338,-20.285950863265043,-2.4133485370171,0.0006248317284871518,-1.0516032489249483e-12,-0.2933611120273386],"issued_joint_targets_rad":[-1.982796715557418,-1.5377242490709904,1.2717620441198985,-1.3048341218438981,-1.5707963267948863,-0.41200038876252215],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.959999999996594,"joint_targets_rad":[-1.982796715557418,-1.5377242490709904,1.2717620441198985,-1.3048341218438981,-1.5707963267948863,-0.41200038876252215],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.979999999996583,"qpos":[-1.982796715557903,-1.537724249076486,1.2717620441351067,-1.304834121858184,-1.570796326794695,-0.41200038876270595,0.002933611173124826,0.0001563015701579425,0.0031934794596569275,-0.0034292989426671352,0.0029336110732339398,0.00015630110312874927,0.0031978493918789416,-0.0034379968898472614,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,2.1331755260620123e-17,7.030624428485651e-18,-2.3780736059712963e-07],"qvel":[4.0964715699333745e-12,2.7668224981537558e-11,-7.623485156590646e-11,7.385514025486932e-11,2.6134903669827824e-12,9.291056798287256e-13,1.0110930925295969e-09,4.812553218949216e-09,-4.789837262676717e-09,-2.738304852557678e-10,-9.372691677676859e-10,-3.1124834408304645e-09,2.9579762146710335e-09,2.6763446619036147e-10,-1.1995703464992817e-17,2.6989029257025085e-17,1.122798524975254e-14,8.331068666957678e-16,1.7212913980922154e-15,-3.179364004506011e-08],"joint_position_rad":[-1.982796715557903,-1.537724249076486,1.2717620441351067,-1.304834121858184,-1.570796326794695,-0.41200038876270595],"joint_velocity_rad_s":[4.0964715699333745e-12,2.7668224981537558e-11,-7.623485156590646e-11,7.385514025486932e-11,2.6134903669827824e-12,9.291056798287256e-13],"linkage_position_rad":[0.002933611173124826,0.0001563015701579425,0.0031934794596569275,-0.0034292989426671352,0.0029336110732339398,0.00015630110312874927,0.0031978493918789416,-0.0034379968898472614],"tcp_position_m":[0.07433918934891552,0.5047373576543248,0.43499999999684646],"tcp_quaternion_wxyz":[-9.452096341400095e-13,0.7071067811866534,0.7071067811864407,2.1357661352029345e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,2.1331755260620123e-17,7.030624428485651e-18,-2.3780736059712963e-07],"object_linear_velocity_m_s":[-1.1995703464992817e-17,2.6989029257025085e-17,1.122798524975254e-14],"object_angular_velocity_rad_s":[8.33107684920145e-16,1.7212910032105608e-15,-3.1793640045060145e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221309075,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557418,-1.5485669366835413,1.261619068687855,-1.3096608189182877,-1.570795077132179,-0.41200038876252215,0.0],"actuator_force":[-6.684786058031023e-10,-21.685375225178177,-20.285950864009465,-2.4133485374374004,0.0006248309965712906,-1.0231815394945443e-12,-0.29336111268705795],"issued_joint_targets_rad":[-1.982796715557417,-1.537724249070982,1.271762044119883,-1.3048341218438826,-1.5707963267948872,-0.4120003887625213],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.979999999996583,"joint_targets_rad":[-1.982796715557417,-1.537724249070982,1.271762044119883,-1.3048341218438826,-1.5707963267948872,-0.4120003887625213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.999999999996572,"qpos":[-1.9827967155578619,-1.5377242490759608,1.2717620441336448,-1.304834121856822,-1.5707963267947223,-0.41200038876268824,0.0029336111704639984,0.00015630155742609852,0.0031934794723305526,-0.003429298942246534,0.0029336110756990504,0.00015630111128962857,0.0031978493842108498,-0.003437996890424306,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,1.891821236905897e-17,1.06964158579464e-17,-2.3792791243433376e-07],"qvel":[4.214366564212773e-12,2.503434476521426e-11,-6.887100623365613e-11,6.85384745810256e-11,6.656775744107084e-12,8.493102951032513e-13,6.563988978657207e-10,3.907511583052399e-09,-3.6981381869173806e-09,-3.638411796571415e-10,-4.738543251357429e-10,-2.5311167172878593e-09,2.426990267871487e-09,1.9269835091289675e-10,-1.009668098668516e-17,2.0137575656819877e-17,1.1187739665109872e-14,-8.452259713145582e-16,-1.571615500788043e-16,-3.4406260508719806e-09],"joint_position_rad":[-1.9827967155578619,-1.5377242490759608,1.2717620441336448,-1.304834121856822,-1.5707963267947223,-0.41200038876268824],"joint_velocity_rad_s":[4.214366564212773e-12,2.503434476521426e-11,-6.887100623365613e-11,6.85384745810256e-11,6.656775744107084e-12,8.493102951032513e-13],"linkage_position_rad":[0.0029336111704639984,0.00015630155742609852,0.0031934794723305526,-0.003429298942246534,0.0029336110756990504,0.00015630111128962857,0.0031978493842108498,-0.003437996890424306],"tcp_position_m":[0.07433918934890842,0.5047373576543416,0.43499999999715055],"tcp_quaternion_wxyz":[-8.54781454484524e-13,0.7071067811866454,0.7071067811864493,1.9426260163307662e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,1.891821236905897e-17,1.06964158579464e-17,-2.3792791243433376e-07],"object_linear_velocity_m_s":[-1.009668098668516e-17,2.0137575656819877e-17,1.1187739665109872e-14],"object_angular_velocity_rad_s":[-8.452260461743072e-16,-1.571611477429039e-16,-3.4406260508719844e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221269955,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557417,-1.5485669366835413,1.2616190686878421,-1.3096608189182704,-1.5707950771321797,-0.4120003887625213,0.0],"actuator_force":[-7.962626114021987e-10,-21.68537522517454,-20.28595086405676,-2.4133485375779173,0.0006248306057159425,-1.4495071809506044e-12,-0.29336111322087527],"issued_joint_targets_rad":[-1.9827967155574162,-1.5377242490709735,1.271762044119869,-1.3048341218438686,-1.570796326794888,-0.4120003887625204],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.999999999996572,"joint_targets_rad":[-1.9827967155574162,-1.5377242490709735,1.271762044119869,-1.3048341218438686,-1.570796326794888,-0.4120003887625204],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.019999999996596,"qpos":[-1.982796715557826,-1.537724249075485,1.2717620441323219,-1.3048341218555926,-1.5707963267947576,-0.4120003887626722,0.0029336111698727674,0.00015630155067891538,0.0031934794776227802,-0.0034292989404423194,0.002933611075819397,0.00015630111576589879,0.0031978493804238647,-0.003437996891253612,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,3.209932982120947e-17,2.5394112793014458e-17,-2.3841249299258025e-07],"qvel":[2.234116184897378e-12,2.2627305452491433e-11,-6.31085782183348e-11,6.129540948091152e-11,5.830475571133793e-12,7.758354252872767e-13,-3.598495000229663e-10,-1.2584147473785193e-09,1.4283762727338744e-09,-6.403910327385707e-11,5.587347248981119e-10,7.689073052297739e-10,-5.60333319246054e-10,-1.499177039143155e-10,-2.7252798395618857e-17,3.8366782656883414e-17,1.1122514062413147e-14,-7.878517056870833e-16,-2.9407876120011664e-16,-1.3830237108931066e-08],"joint_position_rad":[-1.982796715557826,-1.537724249075485,1.2717620441323219,-1.3048341218555926,-1.5707963267947576,-0.4120003887626722],"joint_velocity_rad_s":[2.234116184897378e-12,2.2627305452491433e-11,-6.31085782183348e-11,6.129540948091152e-11,5.830475571133793e-12,7.758354252872767e-13],"linkage_position_rad":[0.0029336111698727674,0.00015630155067891538,0.0031934794776227802,-0.0034292989404423194,0.002933611075819397,0.00015630111576589879,0.0031978493804238647,-0.003437996891253612],"tcp_position_m":[0.07433918934890557,0.5047373576543563,0.4349999999974261],"tcp_quaternion_wxyz":[-7.685631613725858e-13,0.7071067811866384,0.7071067811864563,1.7711538477282488e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,3.209932982120947e-17,2.5394112793014458e-17,-2.3841249299258025e-07],"object_linear_velocity_m_s":[-2.7252798395618857e-17,3.8366782656883414e-17,1.1122514062413147e-14],"object_angular_velocity_rad_s":[-7.878518466135089e-16,-2.940783846448222e-16,-1.3830237108931084e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221254599,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574162,-1.5485669366835406,1.2616190686878306,-1.3096608189182553,-1.5707950771321804,-0.4120003887625204,0.0],"actuator_force":[-7.412381819449365e-11,-21.68537522516226,-20.28595086373889,-2.4133485374609336,0.000624830705532986,-1.7053025658242404e-12,-0.2933611132790343],"issued_joint_targets_rad":[-1.9827967155574155,-1.5377242490709662,1.2717620441198567,-1.3048341218438566,-1.5707963267948888,-0.41200038876251927],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.019999999996596,"joint_targets_rad":[-1.9827967155574155,-1.5377242490709662,1.2717620441198567,-1.3048341218438566,-1.5707963267948888,-0.41200038876251927],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.03999999999662,"qpos":[-1.9827967155577864,-1.5377242490750538,1.2717620441311264,-1.3048341218544728,-1.5707963267947778,-0.41200038876265754,0.0029336111705693074,0.0001563015546436231,0.003193479473761266,-0.0034292989410356213,0.0029336110749213573,0.0001563011131608388,0.0031978493825548016,-0.0034379968907193754,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,3.2136169889171473e-17,3.4085324874926085e-17,-2.387358118002421e-07],"qvel":[-5.211841613962717e-12,2.0528432056357436e-11,-5.912965288901494e-11,3.969717359012149e-11,-3.264709825836863e-11,6.685031845778734e-13,-2.7562576193280654e-09,-1.5727111652606416e-08,1.4775943544873056e-08,1.3064681932208952e-09,1.897258016820691e-09,1.0157157882014032e-08,-9.754273248504928e-09,-7.012600611185835e-10,-6.229959152147585e-17,5.795830716040499e-17,1.1082268477770487e-14,9.9972875000463e-16,2.1997407520648967e-15,-5.559321346206321e-08],"joint_position_rad":[-1.9827967155577864,-1.5377242490750538,1.2717620441311264,-1.3048341218544728,-1.5707963267947778,-0.41200038876265754],"joint_velocity_rad_s":[-5.211841613962717e-12,2.0528432056357436e-11,-5.912965288901494e-11,3.969717359012149e-11,-3.264709825836863e-11,6.685031845778734e-13],"linkage_position_rad":[0.0029336111705693074,0.0001563015546436231,0.003193479473761266,-0.0034292989410356213,0.0029336110749213573,0.0001563011131608388,0.0031978493825548016,-0.0034379968907193754],"tcp_position_m":[0.07433918934889554,0.5047373576543696,0.4349999999976734],"tcp_quaternion_wxyz":[-6.942778667997441e-13,0.7071067811866294,0.7071067811864651,1.6092864465313593e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,3.2136169889171473e-17,3.4085324874926085e-17,-2.387358118002421e-07],"object_linear_velocity_m_s":[-6.229959152147585e-17,5.795830716040499e-17,1.1082268477770487e-14],"object_angular_velocity_rad_s":[9.997297965284813e-16,2.1997402782956468e-15,-5.5593213462063294e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221268524,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574155,-1.5485669366835404,1.2616190686878206,-1.3096608189182422,-1.5707950771321817,-0.41200038876251927,0.0],"actuator_force":[2.8262547857593745e-09,-21.685375225184544,-20.285950862959908,-2.413348535854311,0.0006248345628137031,2.3021584638627246e-12,-0.2933611079795352],"issued_joint_targets_rad":[-1.9827967155574149,-1.53772424907096,1.271762044119846,-1.3048341218438455,-1.5707963267948897,-0.41200038876251877],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.03999999999662,"joint_targets_rad":[-1.9827967155574149,-1.53772424907096,1.271762044119846,-1.3048341218438455,-1.5707963267948897,-0.41200038876251877],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.059999999996645,"qpos":[-1.9827967155577468,-1.537724249074663,1.271762044130045,-1.3048341218534463,-1.5707963267947622,-0.41200038876264417,0.002933611171286213,0.0001563015619109452,0.00319347946800791,-0.003429298942679248,0.0029336110750126047,0.00015630110832902844,0.0031978493870297485,-0.0034379968901573996,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,2.7128967910035392e-17,3.2123155000148753e-17,-2.3894660439931e-07],"qvel":[3.740642703809088e-12,1.8646507353221542e-11,-5.0772981253007186e-11,5.11762860276596e-11,5.116357206865988e-12,6.368389210815651e-13,8.975004370127501e-10,4.800354453902683e-09,-4.637018710753244e-09,-3.8794758408952813e-10,-7.662740260698303e-10,-3.09464053003088e-09,2.9164275393114146e-09,2.760416657333742e-10,-3.687919328250628e-17,3.212496594659221e-17,1.0964307281404066e-14,-1.1478347053532126e-15,-1.1573918638151255e-15,-6.016154747244244e-09],"joint_position_rad":[-1.9827967155577468,-1.537724249074663,1.271762044130045,-1.3048341218534463,-1.5707963267947622,-0.41200038876264417],"joint_velocity_rad_s":[3.740642703809088e-12,1.8646507353221542e-11,-5.0772981253007186e-11,5.11762860276596e-11,5.116357206865988e-12,6.368389210815651e-13],"linkage_position_rad":[0.002933611171286213,0.0001563015619109452,0.00319347946800791,-0.003429298942679248,0.0029336110750126047,0.00015630110832902844,0.0031978493870297485,-0.0034379968901573996],"tcp_position_m":[0.0743391893488755,0.5047373576543821,0.4349999999978957],"tcp_quaternion_wxyz":[-6.402644241646651e-13,0.7071067811866202,0.7071067811864743,1.450030696234861e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,2.7128967910035392e-17,3.2123155000148753e-17,-2.3894660439931e-07],"object_linear_velocity_m_s":[-3.687919328250628e-17,3.212496594659221e-17,1.0964307281404066e-14],"object_angular_velocity_rad_s":[-1.1478352588493107e-15,-1.1573913149461607e-15,-6.016154747244253e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221282455,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574149,-1.5485669366835404,1.261619068687812,-1.30966081891823,-1.5707950771321824,-0.41200038876251877,0.0],"actuator_force":[-8.321876521222293e-10,-21.685375225213647,-20.285950864157257,-2.413348537509478,0.000624830778406249,-9.947598300641403e-13,-0.2933611129710729],"issued_joint_targets_rad":[-1.9827967155574142,-1.5377242490709542,1.2717620441198358,-1.3048341218438355,-1.5707963267948901,-0.4120003887625179],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.059999999996645,"joint_targets_rad":[-1.9827967155574142,-1.5377242490709542,1.2717620441198358,-1.3048341218438355,-1.5707963267948901,-0.4120003887625179],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.07999999999667,"qpos":[-1.9827967155577213,-1.5377242490743093,1.2717620441290634,-1.3048341218525352,-1.5707963267947904,-0.412000388762632,0.002933611169957747,0.00015630155214113576,0.0031934794765046248,-0.0034292989408288978,0.0029336110759725174,0.00015630111472235192,0.0031978493814878222,-0.0034379968912000005,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,4.558853959349685e-17,1.4959523817948278e-17,-2.393996485386265e-07],"qvel":[3.1544971273883482e-12,1.683541939082947e-11,-4.6174122261317246e-11,4.749345848455742e-11,8.38360726152536e-12,5.862197789736268e-13,2.047665408077892e-10,1.9519087685321575e-09,-1.6709335327565944e-09,-3.325026037006414e-10,3.223537622314385e-11,-1.2882289655448166e-09,1.3083502394878598e-09,6.150597346984934e-11,-1.8524880637269957e-17,5.507509950576736e-17,1.0889367227241866e-14,-1.0643086355359409e-16,-1.1181724392226008e-15,-2.41830543070267e-08],"joint_position_rad":[-1.9827967155577213,-1.5377242490743093,1.2717620441290634,-1.3048341218525352,-1.5707963267947904,-0.412000388762632],"joint_velocity_rad_s":[3.1544971273883482e-12,1.683541939082947e-11,-4.6174122261317246e-11,4.749345848455742e-11,8.38360726152536e-12,5.862197789736268e-13],"linkage_position_rad":[0.002933611169957747,0.00015630155214113576,0.0031934794765046248,-0.0034292989408288978,0.0029336110759725174,0.00015630111472235192,0.0031978493814878222,-0.0034379968912000005],"tcp_position_m":[0.07433918934887455,0.5047373576543933,0.4349999999980999],"tcp_quaternion_wxyz":[-5.756207586898138e-13,0.7071067811866156,0.7071067811864791,1.3234195416122387e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,4.558853959349685e-17,1.4959523817948278e-17,-2.393996485386265e-07],"object_linear_velocity_m_s":[-1.8524880637269957e-17,5.507509950576736e-17,1.0889367227241866e-14],"object_angular_velocity_rad_s":[-1.0643139965729341e-16,-1.1181723860585117e-15,-2.4183054307026742e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.093135132212562,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574142,-1.5485669366835404,1.2616190686878035,-1.3096608189182188,-1.5707950771321828,-0.4120003887625179,0.0],"actuator_force":[-6.480149750132114e-10,-21.68537522519682,-20.285950864049937,-2.4133485375912187,0.0006248304655400716,-1.5916157281026244e-12,-0.2933611134815228],"issued_joint_targets_rad":[-1.9827967155574135,-1.5377242490709484,1.2717620441198263,-1.304834121843826,-1.5707963267948908,-0.41200038876251727],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.07999999999667,"joint_targets_rad":[-1.9827967155574135,-1.5377242490709484,1.2717620441198263,-1.304834121843826,-1.5707963267948908,-0.41200038876251727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.099999999996694,"qpos":[-1.9827967155576955,-1.5377242490739886,1.2717620441281763,-1.3048341218517105,-1.5707963267948193,-0.4120003887626211,0.002933611169118039,0.00015630154712738901,0.0031934794812229442,-0.0034292989406915753,0.0029336110763224024,0.0001563011178781613,0.003197849378238105,-0.003437996891134895,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,3.279052832668836e-17,3.836755434371252e-18,-2.395914964192814e-07],"qvel":[-1.1599057240095235e-12,1.5226185645392002e-11,-4.337307724899482e-11,3.7346708839716184e-11,-4.061381365580663e-12,5.245719285513374e-13,-1.331866782115619e-09,-7.033692479154857e-09,6.9108227780192076e-09,4.1253818916462896e-10,1.2837024661134345e-09,4.467079538346459e-09,-4.067632672915208e-09,-4.2242765703058215e-10,2.807379085824151e-17,3.19484532453986e-17,1.0892142784803431e-14,-1.7675443967974185e-15,-3.752948677070986e-15,-9.720829004347361e-08],"joint_position_rad":[-1.9827967155576955,-1.5377242490739886,1.2717620441281763,-1.3048341218517105,-1.5707963267948193,-0.4120003887626211],"joint_velocity_rad_s":[-1.1599057240095235e-12,1.5226185645392002e-11,-4.337307724899482e-11,3.7346708839716184e-11,-4.061381365580663e-12,5.245719285513374e-13],"linkage_position_rad":[0.002933611169118039,0.00015630154712738901,0.0031934794812229442,-0.0034292989406915753,0.0029336110763224024,0.0001563011178781613,0.003197849378238105,-0.003437996891134895],"tcp_position_m":[0.07433918934887307,0.5047373576544029,0.4349999999982838],"tcp_quaternion_wxyz":[-5.151408046493674e-13,0.7071067811866103,0.7071067811864842,1.208626704456149e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,3.279052832668836e-17,3.836755434371252e-18,-2.395914964192814e-07],"object_linear_velocity_m_s":[2.807379085824151e-17,3.19484532453986e-17,1.0892142784803431e-14],"object_angular_velocity_rad_s":[-1.7675461958923253e-15,-3.752947823718326e-15,-9.72082900434738e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221243842,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574135,-1.5485669366835397,1.2616190686877955,-1.3096608189182084,-1.5707950771321835,-0.41200038876251727,0.0],"actuator_force":[1.027729013003409e-09,-21.68537522519273,-20.28595086341238,-2.4133485369836762,0.0006248317240533652,-5.684341886080801e-13,-0.29336111203120047],"issued_joint_targets_rad":[-1.9827967155574129,-1.537724249070943,1.2717620441198174,-1.3048341218438178,-1.5707963267948915,-0.4120003887625167],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.099999999996694,"joint_targets_rad":[-1.9827967155574129,-1.537724249070943,1.2717620441198174,-1.3048341218438178,-1.5707963267948915,-0.4120003887625167],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.11999999999672,"qpos":[-1.9827967155576598,-1.537724249073698,1.2717620441273774,-1.304834121850941,-1.5707963267947929,-0.412000388762611,0.0029336111722308078,0.00015630156665866513,0.0031934794634280094,-0.003429298943116606,0.00293361107415768,0.00015630110522758925,0.0031978493899075078,-0.003437996889836072,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999722,1.811783613020214e-17,-8.272719958244666e-18,-2.399600807631814e-07],"qvel":[3.1188468939355104e-12,1.3898149223978844e-11,-3.748178875606525e-11,3.798791581001243e-11,3.4219197281070377e-12,4.774788789268727e-13,1.0578767328878267e-09,5.1692134084584164e-09,-5.079077830987203e-09,-3.520154806108609e-10,-9.746948106140073e-10,-3.3251570778555785e-09,3.1182893036786424e-09,3.151592325466563e-10,8.327927653501172e-18,2.2371468567009903e-17,1.0813039394298885e-14,-1.2093344611946936e-15,1.1001897187358043e-16,-1.0519631429753631e-08],"joint_position_rad":[-1.9827967155576598,-1.537724249073698,1.2717620441273774,-1.304834121850941,-1.5707963267947929,-0.412000388762611],"joint_velocity_rad_s":[3.1188468939355104e-12,1.3898149223978844e-11,-3.748178875606525e-11,3.798791581001243e-11,3.4219197281070377e-12,4.774788789268727e-13],"linkage_position_rad":[0.0029336111722308078,0.00015630156665866513,0.0031934794634280094,-0.003429298943116606,0.00293361107415768,0.00015630110522758925,0.0031978493899075078,-0.003437996889836072],"tcp_position_m":[0.07433918934885055,0.5047373576544123,0.4349999999984459],"tcp_quaternion_wxyz":[-4.796552752248538e-13,0.7071067811866014,0.7071067811864935,1.081957208328132e-12],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999722,1.811783613020214e-17,-8.272719958244666e-18,-2.399600807631814e-07],"object_linear_velocity_m_s":[8.327927653501172e-18,2.2371468567009903e-17,1.0813039394298885e-14],"object_angular_velocity_rad_s":[-1.209334408220182e-15,1.1001955263874381e-16,-1.0519631429753653e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322129636,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574129,-1.5485669366835393,1.2616190686877882,-1.3096608189181995,-1.5707950771321844,-0.4120003887625167,0.0],"actuator_force":[-7.53516360418871e-10,-21.68537522524184,-20.285950864185907,-2.4133485374281918,0.0006248309620104919,-5.968558980384842e-13,-0.293361112735334],"issued_joint_targets_rad":[-1.9827967155574124,-1.5377242490709386,1.2717620441198096,-1.30483412184381,-1.5707963267948921,-0.41200038876251643],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.11999999999672,"joint_targets_rad":[-1.9827967155574124,-1.5377242490709386,1.2717620441198096,-1.30483412184381,-1.5707963267948921,-0.41200038876251643],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.139999999996743,"qpos":[-1.982796715557642,-1.5377242490734346,1.271762044126649,-1.3048341218502653,-1.5707963267948135,-0.41200038876260203,0.002933611170426552,0.00015630155551374787,0.0031934794734868,-0.003429298941350698,0.0029336110757054532,0.0001563011125077385,0.0031978493835658284,-0.003437996890979472,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,2.238519895531524e-17,-4.6647503476338855e-17,-2.403568396960122e-07],"qvel":[3.3750706511894143e-12,1.2549763850289402e-11,-3.378457038661542e-11,3.619440938702909e-11,7.716636489323286e-12,4.3931077081094646e-13,5.909109566753145e-10,3.845645170118877e-09,-3.55706533366801e-09,-4.5773342751283567e-10,-3.9126822202905746e-10,-2.4929339173679622e-09,2.3696436489005877e-09,2.141931517609759e-10,8.226780359146575e-17,3.802537869607932e-17,1.1355660897584428e-14,6.873105949392115e-16,-3.76351034297624e-15,-4.2285617448952264e-08],"joint_position_rad":[-1.982796715557642,-1.5377242490734346,1.271762044126649,-1.3048341218502653,-1.5707963267948135,-0.41200038876260203],"joint_velocity_rad_s":[3.3750706511894143e-12,1.2549763850289402e-11,-3.378457038661542e-11,3.619440938702909e-11,7.716636489323286e-12,4.3931077081094646e-13],"linkage_position_rad":[0.002933611170426552,0.00015630155551374787,0.0031934794734868,-0.003429298941350698,0.0029336110757054532,0.0001563011125077385,0.0031978493835658284,-0.003437996890979472],"tcp_position_m":[0.07433918934885028,0.5047373576544207,0.4349999999985969],"tcp_quaternion_wxyz":[-4.316332188703695e-13,0.707106781186598,0.7071067811864965,9.87702249689646e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,2.238519895531524e-17,-4.6647503476338855e-17,-2.403568396960122e-07],"object_linear_velocity_m_s":[8.226780359146575e-17,3.802537869607932e-17,1.1355660897584428e-14],"object_angular_velocity_rad_s":[6.873087897132652e-16,-3.7635106714822674e-15,-4.2285617448952264e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221264706,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574124,-1.548566936683539,1.2616190686877817,-1.3096608189181909,-1.5707950771321848,-0.41200038876251643,0.0],"actuator_force":[-8.908500603865832e-10,-21.685375225228654,-20.285950864220922,-2.4133485375822374,0.0006248305426197476,-1.1368683772161603e-12,-0.29336111330481396],"issued_joint_targets_rad":[-1.982796715557412,-1.537724249070935,1.2717620441198036,-1.3048341218438033,-1.5707963267948923,-0.4120003887625159],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.139999999996743,"joint_targets_rad":[-1.982796715557412,-1.537724249070935,1.2717620441198036,-1.3048341218438033,-1.5707963267948923,-0.4120003887625159],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.159999999996767,"qpos":[-1.9827967155576256,-1.5377242490731962,1.2717620441259905,-1.3048341218496564,-1.5707963267948406,-0.4120003887625938,0.0029336111685740406,0.00015630154520589732,0.0031934794834476967,-0.0034292989408554286,0.0029336110770842197,0.00015630111904149584,0.003197849377263382,-0.0034379968912741556,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,1.8073321652859733e-17,-4.621911225744227e-17,-2.4051717392837913e-07],"qvel":[1.3266566506719984e-12,1.1305387782720943e-11,-3.142229950505299e-11,3.1950188824712553e-11,6.813637928179694e-12,4.0362133786450606e-13,-4.1316956556708484e-10,-1.4132373374657683e-09,1.642121543455868e-09,-1.09977579260351e-10,6.339265506367272e-10,8.531586402287682e-10,-6.460911647045692e-10,-1.461175825045472e-10,5.149978393367404e-17,2.1905309864458275e-17,1.1703993371560571e-14,-7.350688145880354e-16,1.6164587553093649e-15,-4.5760408926398426e-09],"joint_position_rad":[-1.9827967155576256,-1.5377242490731962,1.2717620441259905,-1.3048341218496564,-1.5707963267948406,-0.4120003887625938],"joint_velocity_rad_s":[1.3266566506719984e-12,1.1305387782720943e-11,-3.142229950505299e-11,3.1950188824712553e-11,6.813637928179694e-12,4.0362133786450606e-13],"linkage_position_rad":[0.0029336111685740406,0.00015630154520589732,0.0031934794834476967,-0.0034292989408554286,0.0029336110770842197,0.00015630111904149584,0.003197849377263382,-0.0034379968912741556],"tcp_position_m":[0.07433918934885224,0.504737357654428,0.4349999999987334],"tcp_quaternion_wxyz":[-3.8459874304999667e-13,0.7071067811865952,0.7071067811864995,9.046298415340705e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,1.8073321652859733e-17,-4.621911225744227e-17,-2.4051717392837913e-07],"object_linear_velocity_m_s":[5.149978393367404e-17,2.1905309864458275e-17,1.1703993371560571e-14],"object_angular_velocity_rad_s":[-7.350680365927661e-16,1.6164591090679342e-15,-4.576040892639843e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221235004,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557412,-1.5485669366835393,1.2616190686877768,-1.3096608189181835,-1.570795077132185,-0.4120003887625159,0.0],"actuator_force":[-1.0322764865122736e-10,-21.68537522520819,-20.28595086385849,-2.41334853745866,0.0006248306464158304,-1.3642420526593924e-12,-0.29336111338669796],"issued_joint_targets_rad":[-1.9827967155574113,-1.537724249070931,1.271762044119797,-1.304834121843797,-1.5707963267948928,-0.4120003887625154],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.159999999996767,"joint_targets_rad":[-1.9827967155574113,-1.537724249070931,1.271762044119797,-1.304834121843797,-1.5707963267948928,-0.4120003887625154],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.17999999999679,"qpos":[-1.982796715557595,-1.5377242490729797,1.2717620441254003,-1.3048341218490824,-1.570796326794816,-0.41200038876258627,0.002933611173275858,0.0001563015714793307,0.003193479458706702,-0.00342929894347224,0.002933611073163102,0.00015630110210990424,0.0031978493928067225,-0.00343799688949814,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,7.617430773426293e-18,-4.3093656264072775e-17,-2.40962213969925e-07],"qvel":[2.4665396177527398e-12,1.0356015886999988e-11,-2.7711451273357658e-11,2.8043749929853275e-11,1.9383244772601296e-12,3.57029252217537e-13,1.153949523021182e-09,5.19244674656405e-09,-5.1838312603652e-09,-2.815478880510052e-10,-1.108785076189773e-09,-3.3393348445846675e-09,3.134709600480176e-09,3.1978879309927657e-10,5.327084947261213e-17,1.3239413873936138e-17,1.1784484540845893e-14,-7.613426686669614e-16,1.4745699907627475e-15,-1.839424849711513e-08],"joint_position_rad":[-1.982796715557595,-1.5377242490729797,1.2717620441254003,-1.3048341218490824,-1.570796326794816,-0.41200038876258627],"joint_velocity_rad_s":[2.4665396177527398e-12,1.0356015886999988e-11,-2.7711451273357658e-11,2.8043749929853275e-11,1.9383244772601296e-12,3.57029252217537e-13],"linkage_position_rad":[0.002933611173275858,0.0001563015714793307,0.003193479458706702,-0.00342929894347224,0.002933611073163102,0.00015630110210990424,0.0031978493928067225,-0.00343799688949814],"tcp_position_m":[0.07433918934883202,0.5047373576544348,0.43499999999885197],"tcp_quaternion_wxyz":[-3.59479124277003e-13,0.7071067811865872,0.7071067811865073,8.071205211566258e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,7.617430773426293e-18,-4.3093656264072775e-17,-2.40962213969925e-07],"object_linear_velocity_m_s":[5.327084947261213e-17,1.3239413873936138e-17,1.1784484540845893e-14],"object_angular_velocity_rad_s":[-7.613419564502232e-16,1.47457035795244e-15,-1.8394248497115132e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322131086,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574113,-1.5485669366835388,1.2616190686877713,-1.3096608189181769,-1.570795077132186,-0.4120003887625154,0.0],"actuator_force":[-6.193658919073641e-10,-21.685375225260486,-20.28595086417363,-2.413348537351567,0.0006248311211720647,-2.5579538487363607e-13,-0.29336111254777025],"issued_joint_targets_rad":[-1.9827967155574113,-1.5377242490709273,1.2717620441197908,-1.304834121843791,-1.5707963267948932,-0.4120003887625151],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.17999999999679,"joint_targets_rad":[-1.9827967155574113,-1.5377242490709273,1.2717620441197908,-1.304834121843791,-1.5707963267948932,-0.4120003887625151],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.199999999996816,"qpos":[-1.9827967155575819,-1.5377242490727843,1.271762044124861,-1.3048341218485808,-1.5707963267948302,-0.4120003887625796,0.002933611171154679,0.00015630155989573488,0.003193479469428094,-0.0034292989419071615,0.002933611075124245,0.00015630110965090461,0.0031978493861993763,-0.003437996890660664,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,6.018814986451298e-19,-2.2744252673618713e-17,-2.4125940955168945e-07],"qvel":[3.1650397744430694e-12,9.36392898903833e-12,-2.475309787302639e-11,2.7221520221927094e-11,5.954878992247752e-12,3.293515187159504e-13,8.544670859022631e-10,4.857266596648383e-09,-4.613529882682947e-09,-4.903710891123271e-10,-7.101706403457047e-10,-3.1335796575073896e-09,2.9219635522121465e-09,3.106012488732692e-10,2.492547479068798e-17,-1.0143804415828615e-17,1.1616563308371336e-14,-1.0481057373252336e-15,2.4339097972801375e-15,-7.393910712594373e-08],"joint_position_rad":[-1.9827967155575819,-1.5377242490727843,1.271762044124861,-1.3048341218485808,-1.5707963267948302,-0.4120003887625796],"joint_velocity_rad_s":[3.1650397744430694e-12,9.36392898903833e-12,-2.475309787302639e-11,2.7221520221927094e-11,5.954878992247752e-12,3.293515187159504e-13],"linkage_position_rad":[0.002933611171154679,0.00015630155989573488,0.003193479469428094,-0.0034292989419071615,0.002933611075124245,0.00015630110965090461,0.0031978493861993763,-0.003437996890660664],"tcp_position_m":[0.0743391893488316,0.5047373576544409,0.4349999999989633],"tcp_quaternion_wxyz":[-3.2400257608000016e-13,0.7071067811865848,0.7071067811865099,7.36223769804232e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,6.018814986451298e-19,-2.2744252673618713e-17,-2.4125940955168945e-07],"object_linear_velocity_m_s":[2.492547479068798e-17,-1.0143804415828615e-17,1.1616563308371336e-14],"object_angular_velocity_rad_s":[-1.0481045595544513e-15,2.4339103030996026e-15,-7.393910712594376e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221276842,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574113,-1.5485669366835382,1.261619068687766,-1.3096608189181702,-1.5707950771321861,-0.4120003887625151,0.0],"actuator_force":[-9.24956111703068e-10,-21.685375225253665,-20.28595086428868,-2.413348537516754,0.0006248307264513642,-6.821210263296962e-13,-0.29336111303542844],"issued_joint_targets_rad":[-1.9827967155574109,-1.537724249070924,1.271762044119785,-1.3048341218437856,-1.5707963267948934,-0.41200038876251466],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.199999999996816,"joint_targets_rad":[-1.9827967155574109,-1.537724249070924,1.271762044119785,-1.3048341218437856,-1.5707963267948934,-0.41200038876251466],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.21999999999684,"qpos":[-1.982796715557571,-1.5377242490726069,1.271762044124372,-1.3048341218481294,-1.570796326794852,-0.4120003887625732,0.0029336111686337346,0.00015630154672726995,0.003193479482341437,-0.0034292989413221195,0.002933611077285434,0.00015630111799085937,0.0031978493783026574,-0.0034379968911877,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,-2.8550654386624433e-18,-9.47498206789928e-18,-2.415397642135849e-07],"qvel":[2.6058824228687433e-12,8.424414110194208e-12,-2.2652421782653428e-11,2.5902636760261577e-11,9.47091218925361e-12,3.0634978528853196e-13,2.0242632397010902e-10,2.09162856977567e-09,-1.7455487004593696e-09,-3.974156923016844e-10,5.985349600271852e-11,-1.3771560249992287e-09,1.378432634051377e-09,8.08570058814923e-11,1.3712155577656262e-17,-2.8361574376097116e-18,1.1486112102977879e-14,-8.861990921570433e-17,6.793528727193208e-16,-8.00150023071231e-09],"joint_position_rad":[-1.982796715557571,-1.5377242490726069,1.271762044124372,-1.3048341218481294,-1.570796326794852,-0.4120003887625732],"joint_velocity_rad_s":[2.6058824228687433e-12,8.424414110194208e-12,-2.2652421782653428e-11,2.5902636760261577e-11,9.47091218925361e-12,3.0634978528853196e-13],"linkage_position_rad":[0.0029336111686337346,0.00015630154672726995,0.003193479482341437,-0.0034292989413221195,0.002933611077285434,0.00015630111799085937,0.0031978493783026574,-0.0034379968911877],"tcp_position_m":[0.07433918934883417,0.5047373576544466,0.4349999999990648],"tcp_quaternion_wxyz":[-2.8849713799533447e-13,0.7071067811865832,0.7071067811865115,6.752651855156399e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,-2.8550654386624433e-18,-9.47498206789928e-18,-2.415397642135849e-07],"object_linear_velocity_m_s":[1.3712155577656262e-17,-2.8361574376097116e-18,1.1486112102977879e-14],"object_angular_velocity_rad_s":[-8.861958088260054e-17,6.793529154840163e-16,-8.001500230712315e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221236874,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574109,-1.5485669366835377,1.261619068687761,-1.309660818918164,-1.5707950771321861,-0.41200038876251466,0.0],"actuator_force":[-7.22138793207705e-10,-21.685375225231383,-20.28595086416135,-2.4133485376075896,0.0006248303857319115,-1.3642420526593924e-12,-0.29336111360735756],"issued_joint_targets_rad":[-1.9827967155574107,-1.5377242490709224,1.2717620441197819,-1.3048341218437816,-1.5707963267948937,-0.41200038876251494],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.21999999999684,"joint_targets_rad":[-1.9827967155574107,-1.5377242490709224,1.2717620441197819,-1.3048341218437816,-1.5707963267948937,-0.41200038876251494],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.239999999996865,"qpos":[-1.9827967155575519,-1.5377242490724456,1.271762044123934,-1.3048341218477129,-1.5707963267948584,-0.4120003887625677,0.0029336111715299075,0.00015630156217118883,0.0031934794675934864,-0.0034292989426483902,0.0029336110743284766,0.00015630110820968375,0.003197849386691742,-0.0034379968898933613,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,-2.76610500515952e-18,-1.0294181849000382e-17,-2.419422831574008e-07],"qvel":[-4.037604570035774e-12,7.676794450947567e-12,-2.2358268331635386e-11,1.0174835343984686e-11,-2.2957304849289346e-11,2.44180065947101e-13,-1.6395914663739078e-09,-8.953432633815936e-09,8.456276633566692e-09,9.114589854707005e-10,1.0540728205845826e-09,5.888026582045785e-09,-5.882606609185269e-09,-4.180357906302487e-10,1.3169705243238092e-17,-1.8394742422246995e-18,1.1416723163938808e-14,1.8284110774922276e-16,-1.9872428394691554e-17,-3.216352017967145e-08],"joint_position_rad":[-1.9827967155575519,-1.5377242490724456,1.271762044123934,-1.3048341218477129,-1.5707963267948584,-0.4120003887625677],"joint_velocity_rad_s":[-4.037604570035774e-12,7.676794450947567e-12,-2.2358268331635386e-11,1.0174835343984686e-11,-2.2957304849289346e-11,2.44180065947101e-13],"linkage_position_rad":[0.0029336111715299075,0.00015630156217118883,0.0031934794675934864,-0.0034292989426483902,0.0029336110743284766,0.00015630110820968375,0.003197849386691742,-0.0034379968898933613],"tcp_position_m":[0.07433918934882776,0.504737357654451,0.4349999999991532],"tcp_quaternion_wxyz":[-2.599895546702147e-13,0.7071067811865783,0.7071067811865164,6.112047281261251e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,-2.76610500515952e-18,-1.0294181849000382e-17,-2.419422831574008e-07],"object_linear_velocity_m_s":[1.3169705243238092e-17,-1.8394742422246995e-18,1.1416723163938808e-14],"object_angular_velocity_rad_s":[1.828410987954343e-16,-1.987251704661488e-17,-3.216352017967148e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221287385,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574107,-1.548566936683539,1.2616190686877586,-1.30966081891816,-1.570795077132187,-0.41200038876251494,0.0],"actuator_force":[1.8976606952492148e-09,-21.685375225257758,-20.285950863406924,-2.413348536241074,0.0006248336312637548,1.9895196601282805e-12,-0.293361109365326],"issued_joint_targets_rad":[-1.9827967155574104,-1.5377242490709193,1.2717620441197763,-1.3048341218437771,-1.570796326794894,-0.4120003887625139],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.239999999996865,"joint_targets_rad":[-1.9827967155574104,-1.5377242490709193,1.2717620441197763,-1.3048341218437771,-1.570796326794894,-0.4120003887625139],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.25999999999689,"qpos":[-1.9827967155575368,-1.5377242490722995,1.271762044123535,-1.3048341218473298,-1.5707963267948442,-0.41200038876256234,0.002933611172062538,0.00015630156474931884,0.003193479464816034,-0.0034292989424388963,0.002933611074312311,0.00015630110651340296,0.0031978493890710757,-0.0034379968902842092,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,-2.708066490239498e-18,-6.6843793677833235e-18,-2.420642374678576e-07],"qvel":[2.7265884772509135e-12,6.989047350194365e-12,-1.8182149527129865e-11,2.022719154429459e-11,4.057330376026111e-12,2.459768796203447e-13,1.02898570613753e-09,5.288327293825457e-09,-5.113560716236623e-09,-4.598997009865542e-10,-9.362956957207563e-10,-3.4066769011136907e-09,3.154510948266198e-09,3.597439492017137e-10,8.311009337156794e-18,-2.4605413952782718e-18,1.135149756124208e-14,-1.2494036743924186e-16,5.448951272543326e-16,-3.4806535288531205e-09],"joint_position_rad":[-1.9827967155575368,-1.5377242490722995,1.271762044123535,-1.3048341218473298,-1.5707963267948442,-0.41200038876256234],"joint_velocity_rad_s":[2.7265884772509135e-12,6.989047350194365e-12,-1.8182149527129865e-11,2.022719154429459e-11,4.057330376026111e-12,2.459768796203447e-13],"linkage_position_rad":[0.002933611172062538,0.00015630156474931884,0.003193479464816034,-0.0034292989424388963,0.002933611074312311,0.00015630110651340296,0.0031978493890710757,-0.0034379968902842092],"tcp_position_m":[0.07433918934881792,0.5047373576544563,0.4349999999992338],"tcp_quaternion_wxyz":[-2.4281129655445337e-13,0.707106781186575,0.7071067811865197,5.47920041185217e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,-2.708066490239498e-18,-6.6843793677833235e-18,-2.420642374678576e-07],"object_linear_velocity_m_s":[8.311009337156794e-18,-2.4605413952782718e-18,1.135149756124208e-14],"object_angular_velocity_rad_s":[-1.2494010359344833e-16,5.44895187722607e-16,-3.4806535288531234e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221291181,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574104,-1.5485669366835382,1.261619068687754,-1.309660818918155,-1.570795077132187,-0.4120003887625139,0.0],"actuator_force":[-8.376446203328669e-10,-21.68537522527322,-20.28595086428959,-2.4133485374352404,0.0006248309227885329,-3.410605131648481e-13,-0.2933611127821925],"issued_joint_targets_rad":[-1.98279671555741,-1.537724249070917,1.271762044119773,-1.3048341218437738,-1.5707963267948941,-0.41200038876251355],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.25999999999689,"joint_targets_rad":[-1.98279671555741,-1.537724249070917,1.271762044119773,-1.3048341218437738,-1.5707963267948941,-0.41200038876251355],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.279999999996914,"qpos":[-1.9827967155575292,-1.5377242490721685,1.2717620441231725,-1.3048341218469957,-1.57079632679486,-0.4120003887625579,0.002933611169118799,0.0001563015503731141,0.0031934794791112723,-0.003429298941915737,0.0029336110770209717,0.00015630111564429502,0.0031978493804831424,-0.003437996890926385,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,1.245965223533528e-18,1.4106780561845324e-17,-2.4249817109379317e-07],"qvel":[3.055055839906561e-12,6.28903261455561e-12,-1.6306790472308486e-11,2.025678464087752e-11,8.66655351767167e-12,2.3160541609907015e-13,6.235890391848062e-10,4.159047258273501e-09,-3.807281619591941e-09,-5.300280191460591e-10,-4.0276068612159235e-10,-2.6857090421922785e-09,2.5308834575100325e-09,2.453809461248863e-10,-1.6851768174451787e-17,1.3049502712574473e-18,1.1171086319740491e-14,3.922794555266774e-17,-2.214419187271681e-16,-1.3991135010405998e-08],"joint_position_rad":[-1.9827967155575292,-1.5377242490721685,1.2717620441231725,-1.3048341218469957,-1.57079632679486,-0.4120003887625579],"joint_velocity_rad_s":[3.055055839906561e-12,6.28903261455561e-12,-1.6306790472308486e-11,2.025678464087752e-11,8.66655351767167e-12,2.3160541609907015e-13],"linkage_position_rad":[0.002933611169118799,0.0001563015503731141,0.0031934794791112723,-0.003429298941915737,0.0029336110770209717,0.00015630111564429502,0.0031978493804831424,-0.003437996890926385],"tcp_position_m":[0.07433918934882001,0.5047373576544602,0.43499999999930916],"tcp_quaternion_wxyz":[-2.1668732913233944e-13,0.7071067811865738,0.7071067811865207,5.029217599506102e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,1.245965223533528e-18,1.4106780561845324e-17,-2.4249817109379317e-07],"object_linear_velocity_m_s":[-1.6851768174451787e-17,1.3049502712574473e-18,1.1171086319740491e-14],"object_angular_velocity_rad_s":[3.9227837759402844e-17,-2.2144193771768735e-16,-1.3991135010406013e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221246358,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98279671555741,-1.5485669366835382,1.2616190686877513,-1.3096608189181511,-1.5707950771321868,-0.41200038876251355,0.0],"actuator_force":[-9.831637726165354e-10,-21.68537522525503,-20.285950864319602,-2.413348537603383,0.0006248304698601714,-9.663381206337363e-13,-0.2933611134111303],"issued_joint_targets_rad":[-1.9827967155574098,-1.5377242490709147,1.2717620441197683,-1.3048341218437691,-1.5707963267948943,-0.4120003887625139],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.279999999996914,"joint_targets_rad":[-1.9827967155574098,-1.5377242490709147,1.2717620441197683,-1.3048341218437691,-1.5707963267948943,-0.4120003887625139],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.29999999999694,"qpos":[-1.9827967155575172,-1.5377242490720493,1.2717620441228463,-1.3048341218466917,-1.5707963267948764,-0.4120003887625536,0.00293361117078735,0.00015630155856139144,0.0031934794712189327,-0.0034292989423842005,0.0029336110750259325,0.0001563011105654075,0.0031978493844194373,-0.003437996890100814,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,-5.3408051707929335e-18,5.4201015000168256e-17,-2.4282525132052906e-07],"qvel":[-1.186322802778914e-12,5.69223382118417e-12,-1.631939461101399e-11,1.2941449848728739e-11,-3.1744269642638436e-12,2.0014535121998248e-13,-6.267528219899605e-10,-3.218097555193602e-09,3.1579755275541333e-09,3.3302725043160696e-10,5.825013216930294e-10,2.0958003927676446e-09,-1.9854465906896365e-09,-2.3234004233302869e-10,-1.4150388446998647e-16,-1.441619819772223e-17,1.1341783109776605e-14,-1.2773923173944755e-15,7.95200461212023e-15,-5.623997253870707e-08],"joint_position_rad":[-1.9827967155575172,-1.5377242490720493,1.2717620441228463,-1.3048341218466917,-1.5707963267948764,-0.4120003887625536],"joint_velocity_rad_s":[-1.186322802778914e-12,5.69223382118417e-12,-1.631939461101399e-11,1.2941449848728739e-11,-3.1744269642638436e-12,2.0014535121998248e-13],"linkage_position_rad":[0.00293361117078735,0.00015630155856139144,0.0031934794712189327,-0.0034292989423842005,0.0029336110750259325,0.0001563011105654075,0.0031978493844194373,-0.003437996890100814],"tcp_position_m":[0.07433918934881961,0.5047373576544636,0.43499999999937605],"tcp_quaternion_wxyz":[-1.9154432270663053e-13,0.7071067811865711,0.7071067811865234,4.608250301143441e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,-5.3408051707929335e-18,5.4201015000168256e-17,-2.4282525132052906e-07],"object_linear_velocity_m_s":[-1.4150388446998647e-16,-1.441619819772223e-17,1.1341783109776605e-14],"object_angular_velocity_rad_s":[-1.2773884615958168e-15,7.952005231884791e-15,-5.623997253870714e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322127646,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574098,-1.5485669366835377,1.261619068687747,-1.3096608189181462,-1.5707950771321875,-0.4120003887625139,0.0],"actuator_force":[6.898517312947661e-10,-21.685375225253665,-20.285950863670678,-2.4133485370214203,0.0006248316618666649,-1.4210854715202004e-13,-0.2933611120694066],"issued_joint_targets_rad":[-1.9827967155574093,-1.5377242490709133,1.2717620441197661,-1.3048341218437667,-1.5707963267948946,-0.4120003887625131],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.29999999999694,"joint_targets_rad":[-1.9827967155574093,-1.5377242490709133,1.2717620441197661,-1.3048341218437667,-1.5707963267948946,-0.4120003887625131],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.319999999996963,"qpos":[-1.982796715557501,-1.5377242490719412,1.2717620441225528,-1.304834121846402,-1.5707963267948548,-0.41200038876254963,0.0029336111730857064,0.00015630156971112956,0.0031934794600245353,-0.003429298942897247,0.0029336110733441884,0.0001563011033150807,0.0031978493919929438,-0.0034379968898953736,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,-7.364727441867658e-18,6.381058898028752e-17,-2.4303849623379595e-07],"qvel":[2.190490037512913e-12,5.227278514695473e-12,-1.3398220276396158e-11,1.4868088670653817e-11,2.4059925223099434e-12,1.8325398778202707e-13,1.1362325191087652e-09,5.3450520150548585e-09,-5.251762263575186e-09,-3.8983217918767853e-10,-1.084394194326845e-09,-3.443658775503537e-09,3.1881935299092034e-09,3.702874445431511e-10,-7.333722485906277e-17,-7.56760913399493e-18,1.2266043777777048e-14,4.47452002225964e-16,-2.1933506205882117e-15,-6.0861453530568905e-09],"joint_position_rad":[-1.982796715557501,-1.5377242490719412,1.2717620441225528,-1.304834121846402,-1.5707963267948548,-0.41200038876254963],"joint_velocity_rad_s":[2.190490037512913e-12,5.227278514695473e-12,-1.3398220276396158e-11,1.4868088670653817e-11,2.4059925223099434e-12,1.8325398778202707e-13],"linkage_position_rad":[0.0029336111730857064,0.00015630156971112956,0.0031934794600245353,-0.003429298942897247,0.0029336110733441884,0.0001563011033150807,0.0031978493919929438,-0.0034379968898953736],"tcp_position_m":[0.0743391893488065,0.5047373576544669,0.4349999999994342],"tcp_quaternion_wxyz":[-1.8228542563199538e-13,0.7071067811865669,0.7071067811865276,4.083674102912636e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,-7.364727441867658e-18,6.381058898028752e-17,-2.4303849623379595e-07],"object_linear_velocity_m_s":[-7.333722485906277e-17,-7.56760913399493e-18,1.2266043777777048e-14],"object_angular_velocity_rad_s":[4.474509353119176e-16,-2.1933508381737246e-15,-6.086145353056899e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221306241,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574093,-1.5485669366835382,1.2616190686877455,-1.3096608189181436,-1.5707950771321877,-0.4120003887625131,0.0],"actuator_force":[-6.925802154000849e-10,-21.685375225285043,-20.285950864255483,-2.4133485373575922,0.000624831092977729,-8.526512829121202e-14,-0.29336111258068637],"issued_joint_targets_rad":[-1.9827967155574096,-1.5377242490709118,1.2717620441197637,-1.3048341218437645,-1.5707963267948948,-0.41200038876251344],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.319999999996963,"joint_targets_rad":[-1.9827967155574096,-1.5377242490709118,1.2717620441197637,-1.3048341218437645,-1.5707963267948948,-0.41200038876251344],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.339999999996987,"qpos":[-1.9827967155574961,-1.5377242490718432,1.2717620441222834,-1.3048341218461537,-1.570796326794865,-0.4120003887625463,0.002933611169892462,0.00015630155513737175,0.0031934794747263988,-0.0034292989425410898,0.00293361107640828,0.00015630111257641227,0.003197849383272623,-0.003437996890566714,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,-1.5561662655797893e-17,5.261114499380741e-17,-2.4344036356233353e-07],"qvel":[2.9772461686995477e-12,4.714612611532831e-12,-1.1769096883865356e-11,1.5423873699121366e-11,6.690768548440136e-12,1.7007352651715435e-13,9.112874220790897e-10,5.2639267411222376e-09,-4.9633525016368765e-09,-5.610961332107337e-10,-7.517466086678137e-10,-3.38308379915383e-09,3.132367519306529e-09,3.494935226816466e-10,-6.858357409404106e-17,-2.033997083996041e-17,1.2019019154797953e-14,4.3431803351488887e-17,-1.7526857746148417e-15,-2.44643945804163e-08],"joint_position_rad":[-1.9827967155574961,-1.5377242490718432,1.2717620441222834,-1.3048341218461537,-1.570796326794865,-0.4120003887625463],"joint_velocity_rad_s":[2.9772461686995477e-12,4.714612611532831e-12,-1.1769096883865356e-11,1.5423873699121366e-11,6.690768548440136e-12,1.7007352651715435e-13],"linkage_position_rad":[0.002933611169892462,0.00015630155513737175,0.0031934794747263988,-0.0034292989425410898,0.00293361107640828,0.00015630111257641227,0.003197849383272623,-0.003437996890566714],"tcp_position_m":[0.07433918934880814,0.5047373576544701,0.43499999999949013],"tcp_quaternion_wxyz":[-1.6358358026622317e-13,0.7071067811865662,0.7071067811865285,3.7456894359292897e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,-1.5561662655797893e-17,5.261114499380741e-17,-2.4344036356233353e-07],"object_linear_velocity_m_s":[-6.858357409404106e-17,-2.033997083996041e-17,1.2019019154797953e-14],"object_angular_velocity_rad_s":[4.343094742835963e-17,-1.7526857965221573e-15,-2.4464394580416337e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221259942,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574096,-1.548566936683538,1.2616190686877435,-1.309660818918141,-1.5707950771321877,-0.41200038876251344,0.0],"actuator_force":[-1.0177245712839067e-09,-21.685375225275493,-20.285950864372353,-2.413348537535967,0.0006248306696079453,-5.400124791776761e-13,-0.29336111311274116],"issued_joint_targets_rad":[-1.982796715557409,-1.53772424907091,1.2717620441197608,-1.3048341218437616,-1.5707963267948948,-0.41200038876251294],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.339999999996987,"joint_targets_rad":[-1.982796715557409,-1.53772424907091,1.2717620441197608,-1.3048341218437616,-1.5707963267948948,-0.41200038876251294],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.35999999999701,"qpos":[-1.9827967155574895,-1.5377242490717542,1.2717620441220403,-1.3048341218459312,-1.570796326794883,-0.4120003887625431,0.0029336111706885835,0.00015630155856029832,0.0031934794713805053,-0.0034292989424459814,0.002933611075258059,0.0001563011105733679,0.0031978493844316684,-0.0034379968901377196,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,-5.84179688028971e-18,3.130361461536194e-17,-2.4363444335854824e-07],"qvel":[5.600454122069467e-13,4.221760851388978e-12,-1.1636559616489892e-11,1.244658267702598e-11,4.32581024779546e-12,1.5836010474985245e-13,2.6567017166038884e-11,4.310946052142734e-10,-3.400298702273216e-10,9.452856736759594e-12,1.0751768487262493e-10,-2.814433732868128e-10,3.405804380656329e-10,-5.665458827082156e-11,-1.8220424968829376e-17,2.064012308634573e-17,1.116137186827502e-14,4.3371788773848735e-15,-3.4679545185788137e-15,-9.833918966223694e-08],"joint_position_rad":[-1.9827967155574895,-1.5377242490717542,1.2717620441220403,-1.3048341218459312,-1.570796326794883,-0.4120003887625431],"joint_velocity_rad_s":[5.600454122069467e-13,4.221760851388978e-12,-1.1636559616489892e-11,1.244658267702598e-11,4.32581024779546e-12,1.5836010474985245e-13],"linkage_position_rad":[0.0029336111706885835,0.00015630155856029832,0.0031934794713805053,-0.0034292989424459814,0.002933611075258059,0.0001563011105733679,0.0031978493844316684,-0.0034379968901377196],"tcp_position_m":[0.07433918934881069,0.504737357654473,0.4349999999995402],"tcp_quaternion_wxyz":[-1.4290111129737823e-13,0.7071067811865651,0.7071067811865296,3.4595400981376014e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,-5.84179688028971e-18,3.130361461536194e-17,-2.4363444335854824e-07],"object_linear_velocity_m_s":[-1.8220424968829376e-17,2.064012308634573e-17,1.116137186827502e-14],"object_angular_velocity_rad_s":[4.337177181401283e-15,-3.4679566330996844e-15,-9.83391896622371e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221275432,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557409,-1.5485669366835377,1.261619068687741,-1.3096608189181378,-1.570795077132188,-0.41200038876251294,0.0],"actuator_force":[-6.320988177321851e-11,-21.68537522525594,-20.28595086394398,-2.413348537347929,0.0006248309149441411,-7.673861546209082e-13,-0.29336111296775563],"issued_joint_targets_rad":[-1.9827967155574093,-1.5377242490709084,1.2717620441197586,-1.3048341218437594,-1.570796326794895,-0.412000388762513],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.35999999999701,"joint_targets_rad":[-1.9827967155574093,-1.5377242490709084,1.2717620441197586,-1.3048341218437594,-1.570796326794895,-0.412000388762513],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.379999999997036,"qpos":[-1.9827967155574815,-1.5377242490716734,1.2717620441218214,-1.3048341218457247,-1.5707963267948892,-0.41200038876254,0.002933611171138954,0.00015630155943784476,0.003193479469840524,-0.003429298942086801,0.0029336110746624217,0.00015630111005814982,0.0031978493852534828,-0.0034379968902758166,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,9.020477166187388e-18,1.1013895180004776e-17,-2.440073157307e-07],"qvel":[-4.666264708335157e-12,3.861832155072683e-12,-1.188460463505749e-11,-3.86041847449842e-13,-2.4387663695357427e-11,1.1246436453949761e-13,-1.837890065326846e-09,-9.929243771246187e-09,9.406728794377942e-09,8.833508530427411e-10,1.20662798508944e-09,6.500838177031928e-09,-6.4680413956298745e-09,-4.102936035997911e-10,-1.595861719014542e-17,6.950578864492452e-18,1.0850509421379974e-14,2.45477942555309e-16,-8.791225037489949e-16,-1.0642014481324108e-08],"joint_position_rad":[-1.9827967155574815,-1.5377242490716734,1.2717620441218214,-1.3048341218457247,-1.5707963267948892,-0.41200038876254],"joint_velocity_rad_s":[-4.666264708335157e-12,3.861832155072683e-12,-1.188460463505749e-11,-3.86041847449842e-13,-2.4387663695357427e-11,1.1246436453949761e-13],"linkage_position_rad":[0.002933611171138954,0.00015630155943784476,0.003193479469840524,-0.003429298942086801,0.0029336110746624217,0.00015630111005814982,0.0031978493852534828,-0.0034379968902758166],"tcp_position_m":[0.07433918934880929,0.5047373576544752,0.4349999999995845],"tcp_quaternion_wxyz":[-1.2739376716368168e-13,0.7071067811865633,0.7071067811865314,3.1513134664673365e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,9.020477166187388e-18,1.1013895180004776e-17,-2.440073157307e-07],"object_linear_velocity_m_s":[-1.595861719014542e-17,6.950578864492452e-18,1.0850509421379974e-14],"object_angular_velocity_rad_s":[2.454775132962155e-16,-8.791226233537274e-16,-1.0642014481324126e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322128035,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574093,-1.5485669366835375,1.2616190686877393,-1.3096608189181356,-1.5707950771321884,-0.412000388762513,0.0],"actuator_force":[2.0108927856199443e-09,-21.68537522527322,-20.285950863410108,-2.4133485361668363,0.0006248337891747724,2.2453150450019166e-12,-0.2933611091337584],"issued_joint_targets_rad":[-1.9827967155574089,-1.5377242490709069,1.271762044119756,-1.3048341218437571,-1.5707963267948954,-0.4120003887625126],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.379999999997036,"joint_targets_rad":[-1.9827967155574089,-1.5377242490709069,1.271762044119756,-1.3048341218437571,-1.5707963267948954,-0.4120003887625126],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.39999999999706,"qpos":[-1.982796715557471,-1.5377242490716008,1.2717620441216237,-1.3048341218455286,-1.5707963267948692,-0.41200038876253753,0.0029336111708643223,0.00015630156042196233,0.003193479469726577,-0.003429298943136351,0.0029336110755411237,0.00015630110920225883,0.003197849386334547,-0.0034379968901396456,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,7.73916492083329e-18,-6.811698104953948e-18,-2.4435207958040006e-07],"qvel":[2.6158325742754573e-12,3.543186910026013e-12,-8.538272480015069e-12,1.1482424674548403e-11,4.575970118310483e-12,1.2669420018546243e-13,1.1023004404093635e-09,5.734511115797272e-09,-5.511996746563221e-09,-5.244603657616625e-10,-9.996930485311498e-10,-3.682633288535214e-09,3.3880762220707026e-09,4.014613901786412e-10,1.7745038518119173e-17,1.0910031431823178e-17,1.0794998270148716e-14,-2.66305391317386e-16,-1.9772808830906978e-15,-4.2777558914345966e-08],"joint_position_rad":[-1.982796715557471,-1.5377242490716008,1.2717620441216237,-1.3048341218455286,-1.5707963267948692,-0.41200038876253753],"joint_velocity_rad_s":[2.6158325742754573e-12,3.543186910026013e-12,-8.538272480015069e-12,1.1482424674548403e-11,4.575970118310483e-12,1.2669420018546243e-13],"linkage_position_rad":[0.0029336111708643223,0.00015630156042196233,0.003193479469726577,-0.003429298943136351,0.0029336110755411237,0.00015630110920225883,0.003197849386334547,-0.0034379968901396456],"tcp_position_m":[0.07433918934879902,0.5047373576544778,0.4349999999996238],"tcp_quaternion_wxyz":[-1.2388169954974704e-13,0.7071067811865605,0.7071067811865338,2.784646633076782e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,7.73916492083329e-18,-6.811698104953948e-18,-2.4435207958040006e-07],"object_linear_velocity_m_s":[1.7745038518119173e-17,1.0910031431823178e-17,1.0794998270148716e-14],"object_angular_velocity_rad_s":[-2.663063570399704e-16,-1.977280752283788e-15,-4.277755891434605e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221275888,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574089,-1.548566936683537,1.2616190686877369,-1.309660818918133,-1.5707950771321884,-0.4120003887625126,0.0],"actuator_force":[-9.217728802468628e-10,-21.685375225290045,-20.28595086435871,-2.4133485374503607,0.000624830882770766,-2.2737367544323206e-13,-0.2933611128333093],"issued_joint_targets_rad":[-1.9827967155574089,-1.5377242490709067,1.271762044119755,-1.3048341218437554,-1.5707963267948954,-0.4120003887625127],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.39999999999706,"joint_targets_rad":[-1.9827967155574089,-1.5377242490709067,1.271762044119755,-1.3048341218437554,-1.5707963267948954,-0.4120003887625127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.419999999997085,"qpos":[-1.9827967155574675,-1.5377242490715344,1.2717620441214437,-1.3048341218453647,-1.5707963267948846,-0.4120003887625353,0.002933611171026696,0.00015630156078478432,0.003193479469332953,-0.003429298942673054,0.002933611075080849,0.00015630110913701783,0.003197849385826739,-0.003437996890032607,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999711,4.3165252571598384e-18,-1.2116686117733518e-17,-2.4451427910555414e-07],"qvel":[1.4616427072794616e-12,3.1432288655608618e-12,-8.21208724403682e-12,1.0662279317204388e-11,6.131572940068921e-12,1.205007751801415e-13,4.6110483425706207e-10,2.651389973111294e-09,-2.5427026917391395e-09,-1.5620577352020125e-10,-2.9983852078502996e-10,-1.7172538148954158e-09,1.697207238396314e-09,8.05971588918396e-11,1.16984367212171e-17,6.1814572092145156e-18,1.0796386048929498e-14,-3.3963103240431474e-16,4.0979540722517404e-16,-4.629277534274804e-09],"joint_position_rad":[-1.9827967155574675,-1.5377242490715344,1.2717620441214437,-1.3048341218453647,-1.5707963267948846,-0.4120003887625353],"joint_velocity_rad_s":[1.4616427072794616e-12,3.1432288655608618e-12,-8.21208724403682e-12,1.0662279317204388e-11,6.131572940068921e-12,1.205007751801415e-13],"linkage_position_rad":[0.002933611171026696,0.00015630156078478432,0.003193479469332953,-0.003429298942673054,0.002933611075080849,0.00015630110913701783,0.003197849385826739,-0.003437996890032607],"tcp_position_m":[0.07433918934880235,0.50473735765448,0.43499999999966055],"tcp_quaternion_wxyz":[-1.0745731514735301e-13,0.7071067811865601,0.7071067811865346,2.5788626754542024e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999711,4.3165252571598384e-18,-1.2116686117733518e-17,-2.4451427910555414e-07],"object_linear_velocity_m_s":[1.16984367212171e-17,6.1814572092145156e-18,1.0796386048929498e-14],"object_angular_velocity_rad_s":[-3.396308318904346e-16,4.0979557335436474e-16,-4.629277534274813e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221281029,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574089,-1.548566936683538,1.2616190686877364,-1.309660818918131,-1.5707950771321886,-0.4120003887625127,0.0],"actuator_force":[-4.674802767112851e-10,-21.68537522526458,-20.285950864129973,-2.4133485374493375,0.0006248307348641902,-7.673861546209082e-13,-0.2933611131117088],"issued_joint_targets_rad":[-1.9827967155574089,-1.5377242490709053,1.2717620441197526,-1.3048341218437534,-1.5707963267948957,-0.4120003887625126],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.419999999997085,"joint_targets_rad":[-1.9827967155574089,-1.5377242490709053,1.2717620441197526,-1.3048341218437534,-1.5707963267948957,-0.4120003887625126],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.43999999999711,"qpos":[-1.9827967155574644,-1.5377242490714744,1.2717620441212802,-1.3048341218452162,-1.5707963267948992,-0.4120003887625332,0.002933611170271763,0.0001563015553177502,0.003193479474013705,-0.0034292989418933206,0.0029336110754838293,0.00015630111271519204,0.003197849382684288,-0.0034379968904710255,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,-2.685230488947814e-18,5.541354647231906e-19,-2.449644966439273e-07],"qvel":[-1.5108191778754149e-12,2.8457597249110337e-12,-8.51801217644974e-12,5.5184063396690465e-12,-3.184557894222483e-12,1.0310188142193636e-13,-7.476315729585249e-10,-3.6976941204189538e-09,3.6780435193331388e-09,2.600530394399192e-10,7.03078954107287e-10,2.3887378912395294e-09,-2.272988668095209e-09,-2.1232346254201244e-10,-3.091679808497881e-19,-5.6277745464197176e-18,1.1520806572497415e-14,-3.3028574661726787e-16,5.821602116999975e-16,-1.860824309164266e-08],"joint_position_rad":[-1.9827967155574644,-1.5377242490714744,1.2717620441212802,-1.3048341218452162,-1.5707963267948992,-0.4120003887625332],"joint_velocity_rad_s":[-1.5108191778754149e-12,2.8457597249110337e-12,-8.51801217644974e-12,5.5184063396690465e-12,-3.184557894222483e-12,1.0310188142193636e-13],"linkage_position_rad":[0.002933611170271763,0.0001563015553177502,0.003193479474013705,-0.0034292989418933206,0.0029336110754838293,0.00015630111271519204,0.003197849382684288,-0.0034379968904710255],"tcp_position_m":[0.07433918934880548,0.5047373576544818,0.4349999999996945],"tcp_quaternion_wxyz":[-9.244353599982472e-14,0.7071067811865596,0.7071067811865351,2.3960372126152323e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,-2.685230488947814e-18,5.541354647231906e-19,-2.449644966439273e-07],"object_linear_velocity_m_s":[-3.091679808497881e-19,-5.6277745464197176e-18,1.1520806572497415e-14],"object_angular_velocity_rad_s":[-3.3028546142068477e-16,5.821603734165561e-16,-1.860824309164266e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221267641,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574089,-1.5485669366835377,1.2616190686877342,-1.309660818918129,-1.5707950771321888,-0.4120003887625126,0.0],"actuator_force":[7.157723302952945e-10,-21.685375225265034,-20.285950863684775,-2.413348537008119,0.0006248316735764092,-2.842170943040401e-14,-0.2933611120650165],"issued_joint_targets_rad":[-1.9827967155574089,-1.5377242490709042,1.2717620441197508,-1.304834121843752,-1.570796326794896,-0.41200038876251255],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.43999999999711,"joint_targets_rad":[-1.9827967155574089,-1.5377242490709042,1.2717620441197508,-1.304834121843752,-1.570796326794896,-0.41200038876251255],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.459999999997134,"qpos":[-1.9827967155574522,-1.53772424907142,1.2717620441211357,-1.3048341218450648,-1.5707963267948724,-0.4120003887625311,0.0029336111719605973,0.0001563015658012785,0.003193479464561882,-0.00342929894365518,0.002933611074505574,0.00015630110574890114,0.003197849389471166,-0.003437996889706121,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,2.8556696045337427e-18,4.859534863665328e-18,-2.452083749085416e-07],"qvel":[2.1218807785330543e-12,2.6591370425050278e-12,-6.242123231297891e-12,8.367037437987643e-12,2.7376312801550884e-12,9.278230538946721e-14,1.2205187947712671e-09,5.7996825250909e-09,-5.668596988326132e-09,-4.4535027533092974e-10,-1.1627453876573872e-09,-3.7246924339972822e-09,3.427744935224624e-09,4.1242439351898605e-10,-1.409560456141476e-17,3.0194008301923206e-17,1.1649869999110088e-14,2.4143187427058e-15,8.866872676381883e-16,-7.479929824774054e-08],"joint_position_rad":[-1.9827967155574522,-1.53772424907142,1.2717620441211357,-1.3048341218450648,-1.5707963267948724,-0.4120003887625311],"joint_velocity_rad_s":[2.1218807785330543e-12,2.6591370425050278e-12,-6.242123231297891e-12,8.367037437987643e-12,2.7376312801550884e-12,9.278230538946721e-14],"linkage_position_rad":[0.0029336111719605973,0.0001563015658012785,0.003193479464561882,-0.00342929894365518,0.002933611074505574,0.00015630110574890114,0.003197849389471166,-0.003437996889706121],"tcp_position_m":[0.07433918934879238,0.5047373576544838,0.4349999999997219],"tcp_quaternion_wxyz":[-9.391733586565746e-14,0.7071067811865561,0.7071067811865388,2.0627130674450455e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,2.8556696045337427e-18,4.859534863665328e-18,-2.452083749085416e-07],"object_linear_velocity_m_s":[-1.409560456141476e-17,3.0194008301923206e-17,1.1649869999110088e-14],"object_angular_velocity_rad_s":[2.4143191768248186e-15,8.866860840429353e-16,-7.479929824774056e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221292269,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574089,-1.5485669366835375,1.2616190686877327,-1.3096608189181274,-1.570795077132189,-0.41200038876251255,0.0],"actuator_force":[-7.617018127348274e-10,-21.685375225298685,-20.285950864309143,-2.4133485373680514,0.0006248310679666247,0.0,-0.2933611126121756],"issued_joint_targets_rad":[-1.9827967155574087,-1.5377242490709035,1.2717620441197497,-1.3048341218437507,-1.570796326794896,-0.4120003887625123],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.459999999997134,"joint_targets_rad":[-1.9827967155574087,-1.5377242490709035,1.2717620441197497,-1.3048341218437507,-1.570796326794896,-0.4120003887625123],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.47999999999716,"qpos":[-1.9827967155574513,-1.537724249071371,1.271762044121002,-1.3048341218449442,-1.5707963267948848,-0.41200038876252904,0.0029336111716542976,0.00015630156426448775,0.003193479466013291,-0.003429298942963446,0.0029336110745879686,0.00015630110688170397,0.00319784938797867,-0.003437996889836414,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,8.530360727968394e-18,7.042243741287972e-18,-2.4549199115419836e-07],"qvel":[1.7886039417595873e-12,2.3543080585618706e-12,-5.791691998534345e-12,8.547892037324058e-12,5.553556648298694e-12,8.931084459790516e-14,7.528468110957822e-10,3.909713281182732e-09,-3.8392660047044285e-09,-2.1879038798718883e-10,-6.186466325415603e-10,-2.526509594344045e-09,2.4439917243376964e-09,1.7313136472226755e-10,-7.20665858724385e-18,1.0666877274676946e-17,1.1781708983284326e-14,-2.7663367009852907e-16,-1.467776042488408e-16,-8.09458790416521e-09],"joint_position_rad":[-1.9827967155574513,-1.537724249071371,1.271762044121002,-1.3048341218449442,-1.5707963267948848,-0.41200038876252904],"joint_velocity_rad_s":[1.7886039417595873e-12,2.3543080585618706e-12,-5.791691998534345e-12,8.547892037324058e-12,5.553556648298694e-12,8.931084459790516e-14],"linkage_position_rad":[0.0029336111716542976,0.00015630156426448775,0.003193479466013291,-0.003429298942963446,0.0029336110745879686,0.00015630110688170397,0.00319784938797867,-0.003437996889836414],"tcp_position_m":[0.07433918934879599,0.5047373576544851,0.4349999999997494],"tcp_quaternion_wxyz":[-8.14763232200965e-14,0.7071067811865565,0.707106781186538,1.9186779953423235e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,8.530360727968394e-18,7.042243741287972e-18,-2.4549199115419836e-07],"object_linear_velocity_m_s":[-7.20665858724385e-18,1.0666877274676946e-17,1.1781708983284326e-14],"object_angular_velocity_rad_s":[-2.7663374227795655e-16,-1.4677746828802262e-16,-8.094587904165212e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221290615,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574087,-1.5485669366835375,1.2616190686877318,-1.3096608189181258,-1.570795077132189,-0.4120003887625123,0.0],"actuator_force":[-6.298250809777528e-10,-21.68537522527504,-20.285950864224105,-2.4133485374456995,0.0006248307926171037,-5.684341886080801e-13,-0.2933611129831142],"issued_joint_targets_rad":[-1.9827967155574084,-1.5377242490709027,1.2717620441197484,-1.3048341218437496,-1.5707963267948957,-0.4120003887625125],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.47999999999716,"joint_targets_rad":[-1.9827967155574084,-1.5377242490709027,1.2717620441197484,-1.3048341218437496,-1.5707963267948957,-0.4120003887625125],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.499999999997183,"qpos":[-1.9827967155574502,-1.5377242490713263,1.2717620441208803,-1.3048341218448365,-1.5707963267948994,-0.4120003887625275,0.0029336111700969357,0.00015630155511398765,0.0031934794744565465,-0.003429298942051927,0.0029336110758050042,0.00015630111281774968,0.0031978493826095825,-0.003437996890474399,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,2.1632402801219346e-17,1.0806400413925449e-17,-2.458991929138515e-07],"qvel":[4.393254607907473e-13,2.104444254969801e-12,-5.818345017159338e-12,7.166797048551702e-12,4.838401504236916e-12,8.217815239322332e-14,-4.303155485283532e-11,2.7550131907156366e-10,-1.1181000792605477e-10,-8.85049003372681e-11,1.9216607798867361e-10,-1.9457311870549654e-10,2.3845535730993615e-10,-2.2857048030946544e-11,-1.5038127181067278e-17,3.7530074790444316e-17,1.1870526825254341e-14,4.892287289259336e-16,1.0815517929025552e-16,-3.2537703417472666e-08],"joint_position_rad":[-1.9827967155574502,-1.5377242490713263,1.2717620441208803,-1.3048341218448365,-1.5707963267948994,-0.4120003887625275],"joint_velocity_rad_s":[4.393254607907473e-13,2.104444254969801e-12,-5.818345017159338e-12,7.166797048551702e-12,4.838401504236916e-12,8.217815239322332e-14],"linkage_position_rad":[0.0029336111700969357,0.00015630155511398765,0.0031934794744565465,-0.003429298942051927,0.0029336110758050042,0.00015630111281774968,0.0031978493826095825,-0.003437996890474399],"tcp_position_m":[0.07433918934880014,0.5047373576544867,0.4349999999997751],"tcp_quaternion_wxyz":[-6.90086037377816e-14,0.7071067811865565,0.7071067811865378,1.8022288073920215e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,2.1632402801219346e-17,1.0806400413925449e-17,-2.458991929138515e-07],"object_linear_velocity_m_s":[-1.5038127181067278e-17,3.7530074790444316e-17,1.1870526825254341e-14],"object_angular_velocity_rad_s":[4.892287814131867e-16,1.0815494009608088e-16,-3.253770341747268e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221265285,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574084,-1.5485669366835375,1.2616190686877307,-1.3096608189181247,-1.5707950771321888,-0.4120003887625125,0.0],"actuator_force":[-9.185896487906575e-11,-21.685375225264124,-20.28595086397172,-2.4133485373607755,0.0006248308714020823,-7.105427357601002e-13,-0.2933611130407696],"issued_joint_targets_rad":[-1.9827967155574082,-1.537724249070902,1.2717620441197472,-1.3048341218437485,-1.570796326794896,-0.41200038876251194],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.499999999997183,"joint_targets_rad":[-1.9827967155574082,-1.537724249070902,1.2717620441197472,-1.3048341218437485,-1.570796326794896,-0.41200038876251194],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.519999999997207,"qpos":[-1.9827967155574457,-1.5377242490712857,1.271762044120772,-1.3048341218447355,-1.5707963267949074,-0.4120003887625262,0.0029336111724591217,0.00015630156450777117,0.003193479464368354,-0.0034292989415658686,0.00293361107324791,0.00015630110692619624,0.00319784938812336,-0.0034379968901556736,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,1.8127306444981366e-17,8.509592539594676e-18,-2.460225660136229e-07],"qvel":[-5.422332620113077e-12,1.9147759471685698e-12,-6.853617789879012e-12,-5.925069575346523e-12,-2.5399706298314076e-11,4.839466279045715e-14,-2.0071050189227084e-09,-1.1530361518213534e-08,1.0813649225934183e-08,1.1385525624994232e-09,1.3510402658227616e-09,7.564429675545048e-09,-7.3335143845444136e-09,-5.871933824722636e-10,-1.0272255640911113e-17,2.184893637577114e-17,1.1531908802743664e-14,-7.794598579680355e-16,-3.176346648769612e-16,-3.521146677606645e-09],"joint_position_rad":[-1.9827967155574457,-1.5377242490712857,1.271762044120772,-1.3048341218447355,-1.5707963267949074,-0.4120003887625262],"joint_velocity_rad_s":[-5.422332620113077e-12,1.9147759471685698e-12,-6.853617789879012e-12,-5.925069575346523e-12,-2.5399706298314076e-11,4.839466279045715e-14],"linkage_position_rad":[0.0029336111724591217,0.00015630156450777117,0.003193479464368354,-0.0034292989415658686,0.00293361107324791,0.00015630110692619624,0.00319784938812336,-0.0034379968901556736],"tcp_position_m":[0.0743391893488005,0.5047373576544878,0.43499999999979655],"tcp_quaternion_wxyz":[-5.914319487936119e-14,0.7071067811865556,0.7071067811865391,1.660406866793342e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,1.8127306444981366e-17,8.509592539594676e-18,-2.460225660136229e-07],"object_linear_velocity_m_s":[-1.0272255640911113e-17,2.184893637577114e-17,1.1531908802743664e-14],"object_angular_velocity_rad_s":[-7.794600143184592e-16,-3.1763428121983644e-16,-3.5211466776066473e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221298719,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574082,-1.5485669366835375,1.2616190686877298,-1.3096608189181236,-1.5707950771321895,-0.41200038876251194,0.0],"actuator_force":[2.244632923975587e-09,-21.68537522526958,-20.285950863342805,-2.41334853610158,0.0006248338989962576,2.3021584638627246e-12,-0.29336110900502776],"issued_joint_targets_rad":[-1.9827967155574082,-1.5377242490709013,1.2717620441197466,-1.3048341218437478,-1.5707963267948961,-0.41200038876251244],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.519999999997207,"joint_targets_rad":[-1.9827967155574082,-1.5377242490709013,1.2717620441197466,-1.3048341218437478,-1.5707963267948961,-0.41200038876251244],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.53999999999723,"qpos":[-1.9827967155574384,-1.5377242490712497,1.2717620441206745,-1.304834121844632,-1.5707963267948863,-0.4120003887625251,0.0029336111731151013,0.00015630156959523222,0.003193479459790149,-0.0034292989423253244,0.00293361107319076,0.00015630110352426812,0.0031978493917407054,-0.0034379968900262237,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,2.6868748526643036e-17,5.691231563403977e-18,-2.46461547926818e-07],"qvel":[1.774032518691579e-12,1.7721676926864824e-12,-4.0888512021950415e-12,6.5561364352027635e-12,4.201908376670953e-12,6.615159872697049e-14,8.740286436314456e-10,4.367647822935578e-09,-4.2816372835400075e-09,-2.966088524989392e-10,-7.783657923316171e-10,-2.831629283456264e-09,2.675052053749496e-09,2.5703207851639346e-10,-6.987291030026161e-18,3.381168762125863e-17,1.1390355367103958e-14,-6.719383765904269e-16,-4.296521521384496e-16,-1.4153904762275242e-08],"joint_position_rad":[-1.9827967155574384,-1.5377242490712497,1.2717620441206745,-1.304834121844632,-1.5707963267948863,-0.4120003887625251],"joint_velocity_rad_s":[1.774032518691579e-12,1.7721676926864824e-12,-4.0888512021950415e-12,6.5561364352027635e-12,4.201908376670953e-12,6.615159872697049e-14],"linkage_position_rad":[0.0029336111731151013,0.00015630156959523222,0.003193479459790149,-0.0034292989423253244,0.00293361107319076,0.00015630110352426812,0.0031978493917407054,-0.0034379968900262237],"tcp_position_m":[0.07433918934879126,0.5047373576544888,0.4349999999998151],"tcp_quaternion_wxyz":[-6.143367422629599e-14,0.7071067811865535,0.7071067811865412,1.4276197374821327e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,2.6868748526643036e-17,5.691231563403977e-18,-2.46461547926818e-07],"object_linear_velocity_m_s":[-6.987291030026161e-18,3.381168762125863e-17,1.1390355367103958e-14],"object_angular_velocity_rad_s":[-6.71938588536921e-16,-4.2965182016385746e-16,-1.4153904762275255e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221308552,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574082,-1.5485669366835373,1.2616190686877293,-1.3096608189181227,-1.5707950771321895,-0.41200038876251244,0.0],"actuator_force":[-6.489244697149843e-10,-21.685375225284133,-20.285950864254573,-2.4133485374010206,0.000624830928359188,-2.8421709430404007e-13,-0.2933611127936073],"issued_joint_targets_rad":[-1.982796715557408,-1.5377242490709007,1.2717620441197457,-1.304834121843747,-1.5707963267948961,-0.4120003887625119],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.53999999999723,"joint_targets_rad":[-1.982796715557408,-1.5377242490709007,1.2717620441197457,-1.304834121843747,-1.5707963267948961,-0.4120003887625119],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.559999999997256,"qpos":[-1.9827967155574382,-1.5377242490712164,1.2717620441205844,-1.3048341218445523,-1.5707963267948974,-0.412000388762524,0.002933611170496317,0.0001563015575780731,0.0031934794721058964,-0.0034292989423055187,0.0029336110755813884,0.00015630111113995495,0.003197849384331956,-0.003437996890379919,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,2.218312077761619e-17,8.30287735358905e-18,-2.467924333321406e-07],"qvel":[1.4707404019783984e-12,1.5739620863628178e-12,-3.858538563871157e-12,6.869476862596458e-12,6.758929799058327e-12,6.81705640131003e-14,4.1591932531878413e-10,2.680544392464901e-09,-2.4656539374154103e-09,-2.7634647194083825e-10,-2.360092026487153e-10,-1.7420350321760335e-09,1.675895061600236e-09,1.291201822880099e-10,-1.605049368306155e-17,3.994086548493774e-17,1.1320966428064884e-14,-2.3972130923134802e-17,7.754477786237932e-16,-5.689425586656864e-08],"joint_position_rad":[-1.9827967155574382,-1.5377242490712164,1.2717620441205844,-1.3048341218445523,-1.5707963267948974,-0.412000388762524],"joint_velocity_rad_s":[1.4707404019783984e-12,1.5739620863628178e-12,-3.858538563871157e-12,6.869476862596458e-12,6.758929799058327e-12,6.81705640131003e-14],"linkage_position_rad":[0.002933611170496317,0.0001563015575780731,0.0031934794721058964,-0.0034292989423055187,0.0029336110755813884,0.00015630111113995495,0.003197849384331956,-0.003437996890379919],"tcp_position_m":[0.07433918934879459,0.5047373576544899,0.43499999999983396],"tcp_quaternion_wxyz":[-5.2117028399917954e-14,0.7071067811865535,0.7071067811865408,1.3410376838110166e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,2.218312077761619e-17,8.30287735358905e-18,-2.467924333321406e-07],"object_linear_velocity_m_s":[-1.605049368306155e-17,3.994086548493774e-17,1.1320966428064884e-14],"object_angular_velocity_rad_s":[-2.3971749118614918e-17,7.7544779298016505e-16,-5.6894255866568695e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221270824,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557408,-1.5485669366835373,1.2616190686877287,-1.3096608189181216,-1.5707950771321892,-0.4120003887625119,0.0],"actuator_force":[-5.284164217300713e-10,-21.685375225270946,-20.285950864167717,-2.4133485374715065,0.000624830678248145,-7.673861546209082e-13,-0.2933611132034359],"issued_joint_targets_rad":[-1.9827967155574082,-1.5377242490709004,1.2717620441197446,-1.3048341218437454,-1.5707963267948961,-0.4120003887625116],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.559999999997256,"joint_targets_rad":[-1.9827967155574082,-1.5377242490709004,1.2717620441197446,-1.3048341218437454,-1.5707963267948961,-0.4120003887625116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.57999999999728,"qpos":[-1.9827967155574389,-1.5377242490711858,1.2717620441205038,-1.304834121844482,-1.5707963267949143,-0.4120003887625229,0.002933611171461117,0.00015630155923599724,0.003193479469556612,-0.003429298941171399,0.0029336110742013374,0.00015630111026029131,0.003197849385058659,-0.0034379968905283373,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,1.55804376179308e-17,1.0342548303952848e-17,-2.4700815908928424e-07],"qvel":[-1.9434348751514026e-12,1.3926927649967404e-12,-4.766507327426997e-12,1.744100421741774e-12,-3.08443916646942e-12,5.717525876974014e-14,-8.979532689745664e-10,-4.8957204578711925e-09,4.749686012818973e-09,4.515650331693608e-10,8.550203073422016e-10,3.1660699875911956e-09,-2.8898756700212944e-09,-3.647635790247306e-10,-1.062622613810333e-17,1.9943756686283547e-17,1.1204393010479244e-14,-8.182046220624734e-16,-1.299765833645364e-17,-6.156950214006801e-09],"joint_position_rad":[-1.9827967155574389,-1.5377242490711858,1.2717620441205038,-1.304834121844482,-1.5707963267949143,-0.4120003887625229],"joint_velocity_rad_s":[-1.9434348751514026e-12,1.3926927649967404e-12,-4.766507327426997e-12,1.744100421741774e-12,-3.08443916646942e-12,5.717525876974014e-14],"linkage_position_rad":[0.002933611171461117,0.00015630155923599724,0.003193479469556612,-0.003429298941171399,0.0029336110742013374,0.00015630111026029131,0.003197849385058659,-0.0034379968905283373],"tcp_position_m":[0.07433918934880002,0.5047373576544908,0.4349999999998505],"tcp_quaternion_wxyz":[-4.063135234786211e-14,0.7071067811865542,0.7071067811865405,1.2779065090118715e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,1.55804376179308e-17,1.0342548303952848e-17,-2.4700815908928424e-07],"object_linear_velocity_m_s":[-1.062622613810333e-17,1.9943756686283547e-17,1.1204393010479244e-14],"object_angular_velocity_rad_s":[-8.182046286107868e-16,-1.2997253938161171e-17,-6.156950214006807e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221281813,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574082,-1.5485669366835375,1.2616190686877276,-1.30966081891812,-1.5707950771321895,-0.4120003887625116,0.0],"actuator_force":[8.385541150346398e-10,-21.685375225260486,-20.285950863645667,-2.4133485369933396,0.000624831670961612,-8.526512829121202e-14,-0.2933611120684579],"issued_joint_targets_rad":[-1.9827967155574082,-1.5377242490708998,1.2717620441197435,-1.3048341218437445,-1.5707963267948963,-0.41200038876251177],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.57999999999728,"joint_targets_rad":[-1.9827967155574082,-1.5377242490708998,1.2717620441197435,-1.3048341218437445,-1.5707963267948963,-0.41200038876251177],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.599999999997305,"qpos":[-1.9827967155574284,-1.5377242490711591,1.2717620441204334,-1.3048341218444,-1.5707963267948863,-0.4120003887625218,0.002933611174001787,0.00015630157379437784,0.0031934794556913357,-0.003429298942653756,0.002933611072368349,0.00015630110075773245,0.0031978493943176423,-0.0034379968897504352,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,2.1243545781366787e-18,-7.72694751000834e-18,-2.474147016529118e-07],"qvel":[1.5402357508807996e-12,1.3358167623680195e-12,-2.9349611323390543e-12,4.839115734435525e-12,2.763310718954927e-12,5.144161011140645e-14,9.96560708129684e-10,4.58533907354876e-09,-4.57090334045142e-09,-2.500005048996848e-10,-9.377538110495326e-10,-2.966819666839898e-09,2.8026489244605204e-09,2.7453348267146594e-10,1.499844456938255e-17,2.6566741888924035e-18,1.112390184119392e-14,-8.601705018272093e-16,-8.693532419404367e-16,-2.474900790395913e-08],"joint_position_rad":[-1.9827967155574284,-1.5377242490711591,1.2717620441204334,-1.3048341218444,-1.5707963267948863,-0.4120003887625218],"joint_velocity_rad_s":[1.5402357508807996e-12,1.3358167623680195e-12,-2.9349611323390543e-12,4.839115734435525e-12,2.763310718954927e-12,5.144161011140645e-14],"linkage_position_rad":[0.002933611174001787,0.00015630157379437784,0.0031934794556913357,-0.003429298942653756,0.002933611072368349,0.00015630110075773245,0.0031978493943176423,-0.0034379968897504352],"tcp_position_m":[0.07433918934878701,0.5047373576544916,0.4349999999998626],"tcp_quaternion_wxyz":[-4.655497210355337e-14,0.707106781186551,0.7071067811865437,1.0487233225851808e-13],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,2.1243545781366787e-18,-7.72694751000834e-18,-2.474147016529118e-07],"object_linear_velocity_m_s":[1.499844456938255e-17,2.6566741888924035e-18,1.112390184119392e-14],"object_angular_velocity_rad_s":[-8.601709316261825e-16,-8.693528161975241e-16,-2.4749007903959164e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221320799,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574082,-1.5485669366835373,1.2616190686877267,-1.3096608189181191,-1.5707950771321897,-0.41200038876251177,0.0],"actuator_force":[-5.757101462222636e-10,-21.6853752252905,-20.285950864239112,-2.413348537343495,0.0006248310720593508,-1.1368683772161603e-13,-0.2933611126125413],"issued_joint_targets_rad":[-1.9827967155574082,-1.5377242490708989,1.2717620441197426,-1.3048341218437443,-1.5707963267948963,-0.412000388762512],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.599999999997305,"joint_targets_rad":[-1.9827967155574082,-1.5377242490708989,1.2717620441197426,-1.3048341218437443,-1.5707963267948963,-0.412000388762512],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.61999999999733,"qpos":[-1.9827967155574293,-1.537724249071134,1.271762044120366,-1.304834121844341,-1.5707963267948937,-0.4120003887625209,0.0029336111710942634,0.00015630156115005266,0.003193479468781704,-0.003429298942732102,0.002933611075136185,0.00015630110880353678,0.0031978493865022534,-0.0034379968901403725,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,-1.834472113895248e-18,-9.381189118969045e-18,-2.476110393302955e-07],"qvel":[1.859825937882728e-12,1.188550805035549e-12,-2.539885158607199e-12,5.798920841237023e-12,6.116335357514097e-12,4.996954395336507e-14,7.334223858861981e-10,4.0665368004537835e-09,-3.889136417104536e-09,-3.403068004493152e-10,-5.833200700758591e-10,-2.6251187447898707e-09,2.485196192184246e-09,2.2946532384266203e-10,5.2869756576516256e-17,1.1458165380775751e-17,1.109059515045516e-14,4.830700977396332e-16,-2.984634989261013e-15,-9.94832459156218e-08],"joint_position_rad":[-1.9827967155574293,-1.537724249071134,1.271762044120366,-1.304834121844341,-1.5707963267948937,-0.4120003887625209],"joint_velocity_rad_s":[1.859825937882728e-12,1.188550805035549e-12,-2.539885158607199e-12,5.798920841237023e-12,6.116335357514097e-12,4.996954395336507e-14],"linkage_position_rad":[0.0029336111710942634,0.00015630156115005266,0.003193479468781704,-0.003429298942732102,0.002933611075136185,0.00015630110880353678,0.0031978493865022534,-0.0034379968901403725],"tcp_position_m":[0.0743391893487898,0.5047373576544928,0.4349999999998765],"tcp_quaternion_wxyz":[-4.0154833713155804e-14,0.7071067811865516,0.7071067811865429,9.836328034595794e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,-1.834472113895248e-18,-9.381189118969045e-18,-2.476110393302955e-07],"object_linear_velocity_m_s":[5.2869756576516256e-17,1.1458165380775751e-17,1.109059515045516e-14],"object_angular_velocity_rad_s":[4.830686215489735e-16,-2.984635228852628e-15,-9.948324591562194e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221280631,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574082,-1.5485669366835368,1.261619068687726,-1.3096608189181187,-1.5707950771321895,-0.412000388762512,0.0],"actuator_force":[-7.016751624178141e-10,-21.68537522528095,-20.285950864264123,-2.4133485374686643,0.000624830740548532,-5.684341886080801e-13,-0.293361113062034],"issued_joint_targets_rad":[-1.9827967155574082,-1.5377242490708993,1.2717620441197428,-1.3048341218437438,-1.5707963267948961,-0.4120003887625124],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.61999999999733,"joint_targets_rad":[-1.9827967155574082,-1.5377242490708993,1.2717620441197428,-1.3048341218437438,-1.5707963267948961,-0.4120003887625124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.639999999997354,"qpos":[-1.982796715557432,-1.5377242490711118,1.2717620441203044,-1.3048341218442916,-1.570796326794911,-0.41200038876251993,0.0029336111711569433,0.0001563015581557895,0.003193479470772911,-0.0034292989411944994,0.0029336110746647124,0.00015630111093231443,0.0031978493845402967,-0.0034379968906567654,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,6.7948063742042905e-19,-1.4504151344887727e-17,-2.4798824961666575e-07],"qvel":[2.3299558320123106e-13,1.0189375886752459e-12,-2.9954771081922732e-12,4.56987108943945e-12,5.3677741523331375e-12,4.612499557518787e-14,-1.797826785365955e-10,-6.201814017202812e-10,6.973459508466076e-10,5.020117118152343e-11,3.402208737565452e-10,3.828568294602582e-10,-2.134464102569979e-10,-1.4908499380195532e-10,1.926540851421889e-17,1.121884580304582e-18,1.0933776148226856e-14,8.552093944463529e-17,6.802225695978078e-16,-1.076582131009506e-08],"joint_position_rad":[-1.982796715557432,-1.5377242490711118,1.2717620441203044,-1.3048341218442916,-1.570796326794911,-0.41200038876251993],"joint_velocity_rad_s":[2.3299558320123106e-13,1.0189375886752459e-12,-2.9954771081922732e-12,4.56987108943945e-12,5.3677741523331375e-12,4.612499557518787e-14],"linkage_position_rad":[0.0029336111711569433,0.0001563015581557895,0.003193479470772911,-0.0034292989411944994,0.0029336110746647124,0.00015630111093231443,0.0031978493845402967,-0.0034379968906567654],"tcp_position_m":[0.07433918934879638,0.5047373576544931,0.43499999999989014],"tcp_quaternion_wxyz":[-3.021222034740068e-14,0.7071067811865529,0.7071067811865416,9.680189650946647e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,6.7948063742042905e-19,-1.4504151344887727e-17,-2.4798824961666575e-07],"object_linear_velocity_m_s":[1.926540851421889e-17,1.121884580304582e-18,1.0933776148226856e-14],"object_angular_velocity_rad_s":[8.552127713133188e-17,6.802225271959793e-16,-1.0765821310095077e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221276806,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574082,-1.5485669366835377,1.2616190686877262,-1.3096608189181183,-1.5707950771321892,-0.4120003887625124,0.0],"actuator_force":[-4.547473508864641e-11,-21.685375225259122,-20.285950863958078,-2.413348537370439,0.0006248308241083578,-8.242295734817162e-13,-0.2933611130932738],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708989,1.2717620441197421,-1.3048341218437427,-1.5707963267948961,-0.4120003887625118],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.639999999997354,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708989,1.2717620441197421,-1.3048341218437427,-1.5707963267948961,-0.4120003887625118],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.65999999999738,"qpos":[-1.982796715557428,-1.5377242490710916,1.271762044120251,-1.304834121844241,-1.5707963267949154,-0.412000388762519,0.002933611171674515,0.00015630156080603743,0.0031934794679994187,-0.0034292989415804272,0.002933611073981214,0.0001563011092107844,0.0031978493860802403,-0.003437996890317534,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,7.138064011802963e-18,-1.737061060356289e-17,-2.483370243722882e-07],"qvel":[-5.926901710260122e-12,9.515504782524126e-13,-4.388413683246226e-12,-9.25469390211131e-12,-2.7375704350745206e-11,1.0620439717804663e-14,-2.226346084652724e-09,-1.2659179644005092e-08,1.191243202805076e-08,1.152930656625785e-09,1.5081640991457556e-09,8.243603700197177e-09,-8.007314366437151e-09,-5.930247867611122e-10,2.9001917844556007e-17,1.469303209141361e-17,1.0901857236268885e-14,7.031661927492855e-16,-8.234065248080584e-16,-4.327522351735147e-08],"joint_position_rad":[-1.982796715557428,-1.5377242490710916,1.271762044120251,-1.304834121844241,-1.5707963267949154,-0.412000388762519],"joint_velocity_rad_s":[-5.926901710260122e-12,9.515504782524126e-13,-4.388413683246226e-12,-9.25469390211131e-12,-2.7375704350745206e-11,1.0620439717804663e-14],"linkage_position_rad":[0.002933611171674515,0.00015630156080603743,0.0031934794679994187,-0.0034292989415804272,0.002933611073981214,0.0001563011092107844,0.0031978493860802403,-0.003437996890317534],"tcp_position_m":[0.07433918934879562,0.5047373576544937,0.4349999999999006],"tcp_quaternion_wxyz":[-2.4876097664913363e-14,0.7071067811865518,0.7071067811865429,8.937236887098695e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,7.138064011802963e-18,-1.737061060356289e-17,-2.483370243722882e-07],"object_linear_velocity_m_s":[2.9001917844556007e-17,1.469303209141361e-17,1.0901857236268885e-14],"object_angular_velocity_rad_s":[7.031657852879819e-16,-8.23406873434556e-16,-4.327522351735155e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221286751,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877256,-1.3096608189181174,-1.5707950771321897,-0.4120003887625118,0.0],"actuator_force":[2.4110704544000328e-09,-21.68537522527231,-20.285950863295966,-2.413348536012677,0.0006248341004493341,2.5295321393059567e-12,-0.29336110869187654],"issued_joint_targets_rad":[-1.982796715557408,-1.5377242490708989,1.2717620441197413,-1.304834121843742,-1.5707963267948963,-0.4120003887625117],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.65999999999738,"joint_targets_rad":[-1.982796715557408,-1.5377242490708989,1.2717620441197413,-1.304834121843742,-1.5707963267948963,-0.4120003887625117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.679999999997403,"qpos":[-1.9827967155574215,-1.5377242490710739,1.2717620441202029,-1.3048341218441841,-1.5707963267948915,-0.412000388762518,0.0029336111719175397,0.0001563015654915172,0.003193479464628265,-0.00342929894313703,0.002933611074420961,0.00015630110600860185,0.0031978493890973832,-0.0034379968898323125,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,7.499786687607368e-18,-1.6426733548420147e-17,-2.4850111089063083e-07],"qvel":[1.8475616834277753e-12,9.036920054533978e-13,-1.6703408462086235e-12,4.530974969451388e-12,4.6246315672135655e-12,3.462821521327082e-14,9.446586036504358e-10,4.755076216999981e-09,-4.644892097742422e-09,-3.322712552832589e-10,-8.386669093196573e-10,-3.0644834824395326e-09,2.8843687010610627e-09,2.841313787777898e-10,1.779459926141286e-17,7.927307803155737e-18,1.0856060536503095e-14,-2.1688304046002264e-16,7.825704545455851e-16,-4.683133519159153e-09],"joint_position_rad":[-1.9827967155574215,-1.5377242490710739,1.2717620441202029,-1.3048341218441841,-1.5707963267948915,-0.412000388762518],"joint_velocity_rad_s":[1.8475616834277753e-12,9.036920054533978e-13,-1.6703408462086235e-12,4.530974969451388e-12,4.6246315672135655e-12,3.462821521327082e-14],"linkage_position_rad":[0.0029336111719175397,0.0001563015654915172,0.003193479464628265,-0.00342929894313703,0.002933611074420961,0.00015630110600860185,0.0031978493890973832,-0.0034379968898323125],"tcp_position_m":[0.07433918934878597,0.5047373576544946,0.43499999999990924],"tcp_quaternion_wxyz":[-3.1362843994718877e-14,0.7071067811865499,0.7071067811865448,7.286532306258017e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,7.499786687607368e-18,-1.6426733548420147e-17,-2.4850111089063083e-07],"object_linear_velocity_m_s":[1.779459926141286e-17,7.927307803155737e-18,1.0856060536503095e-14],"object_angular_velocity_rad_s":[-2.1688265136688444e-16,7.825705624070879e-16,-4.6831335191591615e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221293326,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557408,-1.5485669366835377,1.2616190686877249,-1.3096608189181165,-1.5707950771321895,-0.4120003887625117,0.0],"actuator_force":[-7.121343514882028e-10,-21.685375225289135,-20.285950864288225,-2.4133485374192105,0.0006248308885687948,-3.126388037344441e-13,-0.2933611128468835],"issued_joint_targets_rad":[-1.9827967155574078,-1.537724249070898,1.2717620441197404,-1.3048341218437411,-1.5707963267948963,-0.4120003887625115],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.679999999997403,"joint_targets_rad":[-1.9827967155574078,-1.537724249070898,1.2717620441197404,-1.3048341218437411,-1.5707963267948963,-0.4120003887625115],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.699999999997427,"qpos":[-1.9827967155574253,-1.5377242490710568,1.2717620441201571,-1.3048341218441488,-1.5707963267949063,-0.41200038876251704,0.0029336111713356254,0.00015630155974098665,0.003193479469413713,-0.003429298941423322,0.0029336110746762205,0.00015630110988281183,0.0031978493856222967,-0.0034379968906125195,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999997,2.6138582914798922e-17,9.848139704122518e-18,-2.4895656615967864e-07],"qvel":[1.4062088947891881e-12,7.637285598811446e-13,-1.739188630874096e-12,5.0734156998673336e-12,7.39920958528436e-12,3.645331699490525e-14,3.0032391916502816e-10,2.027697206262146e-09,-1.885679362076968e-09,-1.6969163325171102e-10,-1.0818299515931581e-10,-1.3257487891378405e-09,1.3657760407887493e-09,2.4540484921024484e-11,-1.419472250441369e-17,2.9811047766311424e-17,1.0761691579409957e-14,5.057216895265631e-17,7.540222885253227e-16,-1.882472725169601e-08],"joint_position_rad":[-1.9827967155574253,-1.5377242490710568,1.2717620441201571,-1.3048341218441488,-1.5707963267949063,-0.41200038876251704],"joint_velocity_rad_s":[1.4062088947891881e-12,7.637285598811446e-13,-1.739188630874096e-12,5.0734156998673336e-12,7.39920958528436e-12,3.645331699490525e-14],"linkage_position_rad":[0.0029336111713356254,0.00015630155974098665,0.003193479469413713,-0.003429298941423322,0.0029336110746762205,0.00015630110988281183,0.0031978493856222967,-0.0034379968906125195],"tcp_position_m":[0.07433918934879225,0.5047373576544951,0.43499999999991923],"tcp_quaternion_wxyz":[-2.336871704784993e-14,0.7071067811865516,0.7071067811865429,7.255836212329569e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999997,2.6138582914798922e-17,9.848139704122518e-18,-2.4895656615967864e-07],"object_linear_velocity_m_s":[-1.419472250441369e-17,2.9811047766311424e-17,1.0761691579409957e-14],"object_angular_velocity_rad_s":[5.057254401947282e-17,7.540222643287872e-16,-1.8824727251696046e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221279657,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835373,1.261619068687724,-1.3096608189181154,-1.5707950771321895,-0.4120003887625115,0.0],"actuator_force":[-5.275069270282984e-10,-21.685375225266853,-20.285950864170445,-2.4133485374907195,0.0006248306185625552,-8.526512829121202e-13,-0.29336111326129694],"issued_joint_targets_rad":[-1.982796715557408,-1.5377242490708978,1.2717620441197401,-1.3048341218437411,-1.5707963267948966,-0.4120003887625113],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.699999999997427,"joint_targets_rad":[-1.982796715557408,-1.5377242490708978,1.2717620441197401,-1.3048341218437411,-1.5707963267948966,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.71999999999745,"qpos":[-1.9827967155574253,-1.537724249071042,1.2717620441201167,-1.3048341218441162,-1.5707963267949216,-0.4120003887625164,0.0029336111705386718,0.00015630155495261866,0.0031934794738253365,-0.003429298941229988,0.0029336110750688977,0.0001563011129472156,0.003197849382606506,-0.0034379968906598493,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,2.3505923705726398e-17,1.8802556135326905e-17,-2.492032816497638e-07],"qvel":[-2.1448193326194475e-12,6.759614649744346e-13,-2.9012120963246575e-12,-2.097210489504245e-13,-3.2463227798073623e-12,2.5697531872307325e-14,-1.0174893402719972e-09,-5.42231786175533e-09,5.311988059814379e-09,4.125338224410939e-10,9.727819794187155e-10,3.4794595605361847e-09,-3.1983198465372554e-09,-3.5912975513340177e-10,-5.2278081825689965e-17,3.5399284125718197e-17,1.098512396311577e-14,8.289840224937419e-16,3.1042918834327707e-15,-7.566949664173147e-08],"joint_position_rad":[-1.9827967155574253,-1.537724249071042,1.2717620441201167,-1.3048341218441162,-1.5707963267949216,-0.4120003887625164],"joint_velocity_rad_s":[-2.1448193326194475e-12,6.759614649744346e-13,-2.9012120963246575e-12,-2.097210489504245e-13,-3.2463227798073623e-12,2.5697531872307325e-14],"linkage_position_rad":[0.0029336111705386718,0.00015630155495261866,0.0031934794738253365,-0.003429298941229988,0.0029336110750688977,0.0001563011129472156,0.003197849382606506,-0.0034379968906598493],"tcp_position_m":[0.07433918934879663,0.5047373576544951,0.4349999999999281],"tcp_quaternion_wxyz":[-1.467339325874325e-14,0.7071067811865516,0.7071067811865427,7.203748107879376e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,2.3505923705726398e-17,1.8802556135326905e-17,-2.492032816497638e-07],"object_linear_velocity_m_s":[-5.2278081825689965e-17,3.5399284125718197e-17,1.098512396311577e-14],"object_angular_velocity_rad_s":[8.289855668475291e-16,3.104291473818671e-15,-7.566949664173146e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221268076,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557408,-1.5485669366835373,1.261619068687724,-1.3096608189181154,-1.57079507713219,-0.4120003887625113,0.0],"actuator_force":[8.926690497901291e-10,-21.68537522526094,-20.285950863625203,-2.413348536978674,0.000624831690515748,-2.842170943040401e-14,-0.2933611120568417],"issued_joint_targets_rad":[-1.9827967155574078,-1.537724249070898,1.2717620441197401,-1.3048341218437411,-1.5707963267948961,-0.4120003887625116],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.71999999999745,"joint_targets_rad":[-1.9827967155574078,-1.537724249070898,1.2717620441197401,-1.3048341218437411,-1.5707963267948961,-0.4120003887625116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.739999999997476,"qpos":[-1.982796715557416,-1.5377242490710288,1.2717620441200832,-1.3048341218440676,-1.5707963267948903,-0.41200038876251593,0.002933611172878399,0.00015630157008191133,0.003193479460148617,-0.0034292989435001126,0.0029336110735285804,0.00015630110303086235,0.0031978493918605787,-0.003437996889512858,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,1.8982320741612482e-17,2.3785543413884517e-17,-2.494901974237217e-07],"qvel":[1.6163757894424867e-12,6.941717343575356e-13,-1.1260118060789384e-12,3.3294284319243784e-12,3.0493670025316988e-12,2.2208174488104616e-14,1.0788169170615947e-09,4.992777676300931e-09,-4.962603019138576e-09,-2.7938495449012134e-10,-1.0136721297209831e-09,-3.214584996558168e-09,3.025892670273826e-09,3.02316211538316e-10,-2.6453259776590618e-17,2.2233171997130162e-17,1.1629053317398362e-14,-7.490875946900459e-16,-5.493559765968614e-16,-8.188758538906547e-09],"joint_position_rad":[-1.982796715557416,-1.5377242490710288,1.2717620441200832,-1.3048341218440676,-1.5707963267948903,-0.41200038876251593],"joint_velocity_rad_s":[1.6163757894424867e-12,6.941717343575356e-13,-1.1260118060789384e-12,3.3294284319243784e-12,3.0493670025316988e-12,2.2208174488104616e-14],"linkage_position_rad":[0.002933611172878399,0.00015630157008191133,0.003193479460148617,-0.0034292989435001126,0.0029336110735285804,0.00015630110303086235,0.0031978493918605787,-0.003437996889512858],"tcp_position_m":[0.07433918934878322,0.5047373576544957,0.4349999999999328],"tcp_quaternion_wxyz":[-2.401872530029449e-14,0.7071067811865486,0.7071067811865461,5.311593876849132e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,1.8982320741612482e-17,2.3785543413884517e-17,-2.494901974237217e-07],"object_linear_velocity_m_s":[-2.6453259776590618e-17,2.2233171997130162e-17,1.1629053317398362e-14],"object_angular_velocity_rad_s":[-7.49087869197363e-16,-5.493556025058859e-16,-8.188758538906547e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221307082,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835377,1.261619068687724,-1.3096608189181154,-1.5707950771321895,-0.4120003887625116,0.0],"actuator_force":[-6.302798283286393e-10,-21.685375225295957,-20.285950864268216,-2.41334853735691,0.0006248310455703177,-5.684341886080802e-14,-0.29336111264607295],"issued_joint_targets_rad":[-1.982796715557408,-1.5377242490708976,1.27176204411974,-1.3048341218437411,-1.5707963267948966,-0.4120003887625124],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.739999999997476,"joint_targets_rad":[-1.982796715557408,-1.5377242490708976,1.27176204411974,-1.3048341218437411,-1.5707963267948966,-0.4120003887625124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.7599999999975,"qpos":[-1.9827967155574198,-1.5377242490710157,1.2717620441200483,-1.3048341218440422,-1.5707963267949017,-0.41200038876251593,0.002933611171838016,0.00015630156287220636,0.003193479466475654,-0.0034292989417626686,0.00293361107433503,0.00015630110784826577,0.003197849387560122,-0.003437996890451095,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,3.197560151757665e-17,1.8814788358479983e-17,-2.4990213647804967e-07],"qvel":[1.885766025679643e-12,5.852819839473984e-13,-9.280337708267231e-13,4.539008072262854e-12,6.732886015551926e-12,2.3395854541250816e-14,6.261500104764444e-10,3.573167450464315e-09,-3.441898066887804e-09,-2.7073934595317983e-10,-4.653347409497745e-10,-2.317141276352973e-09,2.254862767803205e-09,1.4833805966266292e-10,-2.400312138834452e-17,4.759211970777373e-17,1.1751177850107129e-14,7.474009569386264e-16,-5.553483454440154e-16,-3.291623981983308e-08],"joint_position_rad":[-1.9827967155574198,-1.5377242490710157,1.2717620441200483,-1.3048341218440422,-1.5707963267949017,-0.41200038876251593],"joint_velocity_rad_s":[1.885766025679643e-12,5.852819839473984e-13,-9.280337708267231e-13,4.539008072262854e-12,6.732886015551926e-12,2.3395854541250816e-14],"linkage_position_rad":[0.002933611171838016,0.00015630156287220636,0.003193479466475654,-0.0034292989417626686,0.00293361107433503,0.00015630110784826577,0.003197849387560122,-0.003437996890451095],"tcp_position_m":[0.07433918934878862,0.5047373576544963,0.43499999999994055],"tcp_quaternion_wxyz":[-1.8325691505940844e-14,0.7071067811865499,0.7071067811865446,5.35997716903222e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,3.197560151757665e-17,1.8814788358479983e-17,-2.4990213647804967e-07],"object_linear_velocity_m_s":[-2.400312138834452e-17,4.759211970777373e-17,1.1751177850107129e-14],"object_angular_velocity_rad_s":[7.474006781344335e-16,-5.553487168931046e-16,-3.2916239819833087e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221288208,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557408,-1.5485669366835375,1.2616190686877238,-1.3096608189181154,-1.5707950771321897,-0.4120003887625124,0.0],"actuator_force":[-7.312337402254343e-10,-21.685375225277767,-20.28595086427822,-2.413348537490492,0.0006248306827956185,-5.684341886080801e-13,-0.2933611131127286],"issued_joint_targets_rad":[-1.982796715557408,-1.5377242490708976,1.27176204411974,-1.3048341218437403,-1.5707963267948968,-0.4120003887625113],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.7599999999975,"joint_targets_rad":[-1.982796715557408,-1.5377242490708976,1.27176204411974,-1.3048341218437403,-1.5707963267948968,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.779999999997525,"qpos":[-1.982796715557422,-1.5377242490710048,1.271762044120017,-1.3048341218440207,-1.5707963267949179,-0.4120003887625156,0.0029336111701732076,0.00015630155372580942,0.0031934794752472603,-0.003429298941314622,0.0029336110756096284,0.00015630111372519248,0.0031978493819648417,-0.0034379968907668093,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,2.597085145614297e-17,1.0964132313631558e-17,-2.5002694487301505e-07],"qvel":[2.2789443897648093e-13,4.844863035597011e-13,-1.556228524404167e-12,3.406949502581865e-12,5.8969321612953e-12,3.034893399672247e-14,-2.364825306025613e-10,-7.598281966747353e-10,9.020960681765161e-10,-1.769110336361767e-11,4.144807452083417e-10,4.5997766765539317e-10,-3.0209636727558856e-10,-1.2884523991542607e-10,-1.4766087388821435e-17,2.973239821588072e-17,1.1873302382815898e-14,-9.240763894634342e-16,-7.179163669739659e-16,-3.562110914647245e-09],"joint_position_rad":[-1.982796715557422,-1.5377242490710048,1.271762044120017,-1.3048341218440207,-1.5707963267949179,-0.4120003887625156],"joint_velocity_rad_s":[2.2789443897648093e-13,4.844863035597011e-13,-1.556228524404167e-12,3.406949502581865e-12,5.8969321612953e-12,3.034893399672247e-14],"linkage_position_rad":[0.0029336111701732076,0.00015630155372580942,0.0031934794752472603,-0.003429298941314622,0.0029336110756096284,0.00015630111372519248,0.0031978493819648417,-0.0034379968907668093],"tcp_position_m":[0.07433918934879455,0.5047373576544968,0.4349999999999479],"tcp_quaternion_wxyz":[-1.0509210084368673e-14,0.707106781186551,0.7071067811865437,5.5958069106691534e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,2.597085145614297e-17,1.0964132313631558e-17,-2.5002694487301505e-07],"object_linear_velocity_m_s":[-1.4766087388821435e-17,2.973239821588072e-17,1.1873302382815898e-14],"object_angular_velocity_rad_s":[-9.240767485383017e-16,-7.179159047008613e-16,-3.5621109146472466e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221262569,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557408,-1.5485669366835375,1.2616190686877238,-1.3096608189181145,-1.57079507713219,-0.4120003887625113,0.0],"actuator_force":[-6.320988177321851e-11,-21.685375225259122,-20.28595086396399,-2.4133485373876056,0.0006248307743135229,-8.810729923425242e-13,-0.2933611131791329],"issued_joint_targets_rad":[-1.982796715557408,-1.5377242490708969,1.2717620441197388,-1.3048341218437398,-1.5707963267948963,-0.4120003887625116],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.779999999997525,"joint_targets_rad":[-1.982796715557408,-1.5377242490708969,1.2717620441197388,-1.3048341218437398,-1.5707963267948963,-0.4120003887625116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.79999999999755,"qpos":[-1.9827967155574195,-1.5377242490709953,1.271762044119991,-1.3048341218439956,-1.5707963267949219,-0.41200038876251543,0.0029336111703298796,0.00015630155590183668,0.00319347947360307,-0.0034292989423238287,0.0029336110752896157,0.00015630111223853267,0.00319784938286999,-0.003437996890122364,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,4.176117690767027e-17,1.0948966733985364e-17,-2.5047103380412065e-07],"qvel":[-6.507710403949352e-12,4.734190859192648e-13,-3.2648837083184225e-12,-1.1540601665870188e-11,-2.9809807785876955e-11,-8.409945907088997e-15,-2.438720425765129e-09,-1.3836177582254312e-08,1.3035262990154043e-08,1.2537973404325649e-09,1.64872084515198e-09,8.972058406129477e-09,-8.726649825753537e-09,-6.407716231709101e-10,-1.4298556993581858e-17,4.8112765829715225e-17,1.1687340026191183e-14,-6.695304208439844e-16,-2.6093524181631637e-16,-1.43185681412225e-08],"joint_position_rad":[-1.9827967155574195,-1.5377242490709953,1.271762044119991,-1.3048341218439956,-1.5707963267949219,-0.41200038876251543],"joint_velocity_rad_s":[-6.507710403949352e-12,4.734190859192648e-13,-3.2648837083184225e-12,-1.1540601665870188e-11,-2.9809807785876955e-11,-8.409945907088997e-15],"linkage_position_rad":[0.0029336111703298796,0.00015630155590183668,0.00319347947360307,-0.0034292989423238287,0.0029336110752896157,0.00015630111223853267,0.00319784938286999,-0.003437996890122364],"tcp_position_m":[0.07433918934879434,0.5047373576544966,0.43499999999995315],"tcp_quaternion_wxyz":[-7.116066243001215e-15,0.7071067811865502,0.7071067811865447,5.2644845088013396e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,4.176117690767027e-17,1.0948966733985364e-17,-2.5047103380412065e-07],"object_linear_velocity_m_s":[-1.4298556993581858e-17,4.8112765829715225e-17,1.1687340026191183e-14],"object_angular_velocity_rad_s":[-6.695305518708871e-16,-2.6093490522440986e-16,-1.431856814122251e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221269713,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557408,-1.548566936683537,1.2616190686877229,-1.309660818918114,-1.5707950771321897,-0.4120003887625116,0.0],"actuator_force":[2.625711204018444e-09,-21.685375225272765,-20.285950863230482,-2.413348535905129,0.0006248343471497719,2.7853275241795927e-12,-0.2933611083309769],"issued_joint_targets_rad":[-1.9827967155574078,-1.537724249070897,1.271762044119739,-1.30483412184374,-1.5707963267948963,-0.41200038876251116],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.79999999999755,"joint_targets_rad":[-1.9827967155574078,-1.537724249070897,1.271762044119739,-1.30483412184374,-1.5707963267948963,-0.41200038876251116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.819999999997574,"qpos":[-1.9827967155574149,-1.5377242490709864,1.2717620441199673,-1.3048341218439625,-1.5707963267948977,-0.41200038876251516,0.002933611172567045,0.00015630156686112002,0.003193479462631296,-0.003429298942121263,0.0029336110737213576,0.00015630110528631853,0.003197849389965332,-0.0034379968902022687,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,4.375695818591268e-17,3.8749778335686386e-17,-2.508057686566311e-07],"qvel":[1.929665407098907e-12,4.604158678434023e-13,-4.5255629124106803e-13,3.644479245954343e-12,5.1571817134269215e-12,2.3411963649437346e-14,8.457260629191466e-10,4.379131669365411e-09,-4.293889311979166e-09,-2.9414816581326775e-10,-7.312818663991636e-10,-2.8358012801980316e-09,2.7112805107753922e-09,2.250291058666745e-10,-9.521872392289223e-17,7.768234446656182e-17,1.1881629055500587e-14,1.3936323805964117e-15,5.575237327219103e-15,-5.755615098110786e-08],"joint_position_rad":[-1.9827967155574149,-1.5377242490709864,1.2717620441199673,-1.3048341218439625,-1.5707963267948977,-0.41200038876251516],"joint_velocity_rad_s":[1.929665407098907e-12,4.604158678434023e-13,-4.5255629124106803e-13,3.644479245954343e-12,5.1571817134269215e-12,2.3411963649437346e-14],"linkage_position_rad":[0.002933611172567045,0.00015630156686112002,0.003193479462631296,-0.003429298942121263,0.0029336110737213576,0.00015630110528631853,0.003197849389965332,-0.0034379968902022687],"tcp_position_m":[0.07433918934878528,0.5047373576544972,0.43499999999995664],"tcp_quaternion_wxyz":[-1.4883914273140625e-14,0.7071067811865486,0.7071067811865461,3.958929156241706e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,4.375695818591268e-17,3.8749778335686386e-17,-2.508057686566311e-07],"object_linear_velocity_m_s":[-9.521872392289223e-17,7.768234446656182e-17,1.1881629055500587e-14],"object_angular_velocity_rad_s":[1.393635172739029e-15,5.575236633193289e-15,-5.75561509811079e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221300007,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.261619068687723,-1.3096608189181143,-1.5707950771321897,-0.41200038876251116,0.0],"actuator_force":[-7.576090865768492e-10,-21.685375225286407,-20.285950864307324,-2.4133485374403563,0.0006248308383192125,-3.126388037344441e-13,-0.29336111288664113],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708969,1.2717620441197388,-1.3048341218437398,-1.5707963267948963,-0.41200038876251127],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.819999999997574,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708969,1.2717620441197388,-1.3048341218437398,-1.5707963267948963,-0.41200038876251127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.839999999997598,"qpos":[-1.982796715557418,-1.5377242490709775,1.2717620441199444,-1.3048341218439474,-1.5707963267949103,-0.412000388762515,0.002933611170330606,0.00015630155539909758,0.0031934794738601034,-0.0034292989416208016,0.0029336110756620726,0.00015630111264449442,0.0031978493830384304,-0.003437996890686675,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,3.6983655619260926e-17,4.605336187130723e-17,-2.5102400411923715e-07],"qvel":[1.5120684233240672e-12,3.723773051284172e-13,-6.246737614361595e-13,4.352155696537689e-12,8.083236501032263e-12,2.7868592080117376e-14,2.858122152344191e-10,2.1296648658471164e-09,-1.912911104554188e-09,-2.5038410404460335e-10,-7.376222051481298e-11,-1.3966374013246349e-09,1.4079407319995862e-09,5.6433723988852866e-11,-5.217096780340946e-17,4.3244290351671017e-17,1.2100898102864052e-14,-1.3581536000170101e-15,-1.4763651424540197e-15,-6.2285788029574036e-09],"joint_position_rad":[-1.982796715557418,-1.5377242490709775,1.2717620441199444,-1.3048341218439474,-1.5707963267949103,-0.412000388762515],"joint_velocity_rad_s":[1.5120684233240672e-12,3.723773051284172e-13,-6.246737614361595e-13,4.352155696537689e-12,8.083236501032263e-12,2.7868592080117376e-14],"linkage_position_rad":[0.002933611170330606,0.00015630155539909758,0.0031934794738601034,-0.0034292989416208016,0.0029336110756620726,0.00015630111264449442,0.0031978493830384304,-0.003437996890686675],"tcp_position_m":[0.07433918934879066,0.5047373576544973,0.4349999999999618],"tcp_quaternion_wxyz":[-8.90041844335089e-15,0.7071067811865497,0.7071067811865448,4.1500748072064284e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,3.6983655619260926e-17,4.605336187130723e-17,-2.5102400411923715e-07],"object_linear_velocity_m_s":[-5.217096780340946e-17,4.3244290351671017e-17,1.2100898102864052e-14],"object_angular_velocity_rad_s":[-1.3581543417967133e-15,-1.4763644601348137e-15,-6.228578802957409e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221265844,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835373,1.2616190686877229,-1.3096608189181138,-1.5707950771321895,-0.41200038876251127,0.0],"actuator_force":[-5.848050932399929e-10,-21.685375225268672,-20.285950864193637,-2.4133485375183454,0.0006248305521694419,-9.094947017729282e-13,-0.2933611133598839],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708969,1.2717620441197384,-1.3048341218437396,-1.5707963267948966,-0.41200038876251144],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.839999999997598,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708969,1.2717620441197384,-1.3048341218437396,-1.5707963267948966,-0.41200038876251144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.859999999997623,"qpos":[-1.9827967155574198,-1.5377242490709693,1.271762044119924,-1.304834121843934,-1.5707963267949263,-0.4120003887625149,0.002933611169086237,0.00015630154951633144,0.0031934794799558866,-0.003429298941946394,0.002933611076480542,0.0001563011163227059,0.0031978493790664466,-0.0034379968904858296,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,2.1778739280781336e-17,5.0760901405385626e-17,-2.514352763085995e-07],"qvel":[-2.3659447531236463e-12,3.117478566199883e-13,-2.0264218489255114e-12,-1.304832063306032e-12,-3.5129894528592217e-12,1.7681541801070178e-14,-1.1160433303453067e-09,-5.932237558991267e-09,5.824011849992812e-09,4.438177438911543e-10,1.0672521960999452e-09,3.791167059887098e-09,-3.491461665011651e-09,-3.886964872720191e-10,-6.700647686821179e-17,3.064218410276439e-17,1.2164735926780004e-14,-1.5874589447935164e-15,-7.327191471635855e-16,-2.503693235559311e-08],"joint_position_rad":[-1.9827967155574198,-1.5377242490709693,1.271762044119924,-1.304834121843934,-1.5707963267949263,-0.4120003887625149],"joint_velocity_rad_s":[-2.3659447531236463e-12,3.117478566199883e-13,-2.0264218489255114e-12,-1.304832063306032e-12,-3.5129894528592217e-12,1.7681541801070178e-14],"linkage_position_rad":[0.002933611169086237,0.00015630154951633144,0.0031934794799558866,-0.003429298941946394,0.002933611076480542,0.0001563011163227059,0.0031978493790664466,-0.0034379968904858296],"tcp_position_m":[0.07433918934879609,0.5047373576544976,0.43499999999996614],"tcp_quaternion_wxyz":[-1.1533259608177903e-15,0.7071067811865503,0.7071067811865446,4.3900678851857064e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,2.1778739280781336e-17,5.0760901405385626e-17,-2.514352763085995e-07],"object_linear_velocity_m_s":[-6.700647686821179e-17,3.064218410276439e-17,1.2164735926780004e-14],"object_angular_velocity_rad_s":[-1.587459315797994e-15,-7.327183477865906e-16,-2.5036932355593136e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221249455,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.2616190686877224,-1.3096608189181136,-1.5707950771321897,-0.41200038876251144,0.0],"actuator_force":[9.69976099440828e-10,-21.68537522526094,-20.285950863592916,-2.4133485369592336,0.0006248317196195785,-2.842170943040401e-14,-0.29336111203438325],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708967,1.271762044119738,-1.3048341218437387,-1.5707963267948968,-0.4120003887625113],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.859999999997623,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708967,1.271762044119738,-1.3048341218437387,-1.5707963267948968,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.879999999997647,"qpos":[-1.9827967155574113,-1.5377242490709624,1.2717620441199082,-1.3048341218439032,-1.570796326794895,-0.4120003887625149,0.0029336111734437754,0.00015630157118514862,0.003193479458409216,-0.0034292989424562228,0.002933611072918648,0.00015630110247924532,0.003197849392600662,-0.0034379968899211,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,4.649264859389885e-18,3.6861013423294863e-17,-2.5163389813483916e-07],"qvel":[1.7243210932053764e-12,3.580254792320189e-13,-2.0824414320866348e-13,2.7100690837392838e-12,3.4837470664437434e-12,1.8738146822097225e-14,9.882331443219957e-10,4.70308974721039e-09,-4.680458914984191e-09,-2.6743049536752514e-10,-9.162950769165706e-10,-3.0437850790747272e-09,2.892903954387443e-09,2.6166151560144476e-10,-7.223984366870714e-17,-4.0536206106316715e-17,1.1742851177422441e-14,-5.289291447912885e-15,4.2445011459840664e-16,-1.0064061186457328e-07],"joint_position_rad":[-1.9827967155574113,-1.5377242490709624,1.2717620441199082,-1.3048341218439032,-1.570796326794895,-0.4120003887625149],"joint_velocity_rad_s":[1.7243210932053764e-12,3.580254792320189e-13,-2.0824414320866348e-13,2.7100690837392838e-12,3.4837470664437434e-12,1.8738146822097225e-14],"linkage_position_rad":[0.0029336111734437754,0.00015630157118514862,0.003193479458409216,-0.0034292989424562228,0.002933611072918648,0.00015630110247924532,0.003197849392600662,-0.0034379968899211],"tcp_position_m":[0.07433918934878293,0.5047373576544979,0.4349999999999672],"tcp_quaternion_wxyz":[-1.1831456398867658e-14,0.7071067811865472,0.7071067811865475,2.7934842918350264e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,4.649264859389885e-18,3.6861013423294863e-17,-2.5163389813483916e-07],"object_linear_velocity_m_s":[-7.223984366870714e-17,-4.0536206106316715e-17,1.1742851177422441e-14],"object_angular_velocity_rad_s":[-5.2892912417195765e-15,4.244527774642158e-16,-1.0064061186457338e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221312772,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.261619068687722,-1.309660818918113,-1.5707950771321901,-0.4120003887625113,0.0],"actuator_force":[-6.830305210314691e-10,-21.685375225293683,-20.28595086428959,-2.413348537375896,0.0006248310041883087,-8.526512829121202e-14,-0.2933611126778115],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708967,1.2717620441197377,-1.3048341218437387,-1.5707963267948966,-0.41200038876251066],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.879999999997647,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708967,1.2717620441197377,-1.3048341218437387,-1.5707963267948966,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.89999999999767,"qpos":[-1.9827967155574144,-1.537724249070957,1.2717620441198905,-1.3048341218438917,-1.570796326794904,-0.41200038876251466,0.0029336111708413667,0.00015630155874264446,0.0031934794707915697,-0.0034292989420450022,0.0029336110753291457,0.00015630111046591438,0.0031978493850943596,-0.003437996890482787,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,-1.3268876329369548e-17,3.00893394602795e-17,-2.5201549680175557e-07],"qvel":[2.0436049316893215e-12,2.942185877678653e-13,-7.210944355382322e-14,4.079045465527279e-12,7.350973603958669e-12,2.6329097601022248e-14,6.414416884392334e-10,3.8186709477351285e-09,-3.6141303460180414e-09,-3.5524838658930914e-10,-4.634943966054432e-10,-2.475582335091743e-09,2.373588846517887e-09,1.8858166422502351e-10,-3.7438162358625293e-17,-1.3223740882299862e-17,1.1178025213644394e-14,-1.574421455122104e-16,-1.2780272386315258e-15,-1.0891068479928901e-08],"joint_position_rad":[-1.9827967155574144,-1.537724249070957,1.2717620441198905,-1.3048341218438917,-1.570796326794904,-0.41200038876251466],"joint_velocity_rad_s":[2.0436049316893215e-12,2.942185877678653e-13,-7.210944355382322e-14,4.079045465527279e-12,7.350973603958669e-12,2.6329097601022248e-14],"linkage_position_rad":[0.0029336111708413667,0.00015630155874264446,0.0031934794707915697,-0.0034292989420450022,0.0029336110753291457,0.00015630111046591438,0.0031978493850943596,-0.003437996890482787],"tcp_position_m":[0.07433918934878726,0.504737357654498,0.434999999999972],"tcp_quaternion_wxyz":[-7.650270408372472e-15,0.7071067811865486,0.7071067811865464,2.997177652219831e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,-1.3268876329369548e-17,3.00893394602795e-17,-2.5201549680175557e-07],"object_linear_velocity_m_s":[-3.7438162358625293e-17,-1.3223740882299862e-17,1.1178025213644394e-14],"object_angular_velocity_rad_s":[-1.5744279033293975e-16,-1.2780271595646684e-15,-1.0891068479928916e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221274654,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.261619068687722,-1.3096608189181127,-1.5707950771321897,-0.41200038876251066,0.0],"actuator_force":[-8.04448063718155e-10,-21.685375225278676,-20.28595086430869,-2.413348537518459,0.000624830622200534,-6.536993168992922e-13,-0.2933611131982621],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708958,1.2717620441197373,-1.3048341218437387,-1.5707963267948966,-0.4120003887625114],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.89999999999767,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708958,1.2717620441197373,-1.3048341218437387,-1.5707963267948966,-0.4120003887625114],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.919999999997696,"qpos":[-1.9827967155574182,-1.537724249070952,1.2717620441198747,-1.3048341218438841,-1.5707963267949208,-0.41200038876251466,0.0029336111686824647,0.0001563015481591345,0.0031934794815551572,-0.003429298942040927,0.0029336110770767153,0.0001563011171606263,0.0031978493783696924,-0.0034379968906075205,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,-2.2904733295401315e-17,5.3138161820126126e-18,-2.5236832912528565e-07],"qvel":[2.332610577462191e-13,2.2193410026331484e-13,-8.581927516352284e-13,2.9141075340545397e-12,6.4464640518612795e-12,2.58117385238999e-14,-2.629699626154639e-10,-8.417191205567592e-10,1.009358265816856e-09,-2.518465734154501e-11,4.5910095479205337e-10,5.06834668241172e-10,-3.408998456470265e-10,-1.3967488976334506e-10,1.0870463824465929e-18,-4.0061525445459166e-17,1.1076717362647346e-14,-9.274833813656003e-16,-2.9661145882811872e-15,-4.37786778394065e-08],"joint_position_rad":[-1.9827967155574182,-1.537724249070952,1.2717620441198747,-1.3048341218438841,-1.5707963267949208,-0.41200038876251466],"joint_velocity_rad_s":[2.332610577462191e-13,2.2193410026331484e-13,-8.581927516352284e-13,2.9141075340545397e-12,6.4464640518612795e-12,2.58117385238999e-14],"linkage_position_rad":[0.0029336111686824647,0.0001563015481591345,0.0031934794815551572,-0.003429298942040927,0.0029336110770767153,0.0001563011171606263,0.0031978493783696924,-0.0034379968906075205],"tcp_position_m":[0.07433918934879359,0.5047373576544977,0.43499999999997635],"tcp_quaternion_wxyz":[-6.305242866371532e-16,0.7071067811865497,0.7071067811865448,3.441665031131395e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,-2.2904733295401315e-17,5.3138161820126126e-18,-2.5236832912528565e-07],"object_linear_velocity_m_s":[1.0870463824465929e-18,-4.0061525445459166e-17,1.1076717362647346e-14],"object_angular_velocity_rad_s":[-9.27484878937513e-16,-2.966114122151429e-15,-4.3778677839406564e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221243058,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835366,1.2616190686877216,-1.3096608189181125,-1.5707950771321895,-0.4120003887625114,0.0],"actuator_force":[-7.185008144006133e-11,-21.685375225257758,-20.285950863962626,-2.413348537405568,0.0006248307211080828,-9.379164112033322e-13,-0.29336111326861397],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708969,1.2717620441197388,-1.3048341218437391,-1.570796326794897,-0.41200038876251105],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.919999999997696,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708969,1.2717620441197388,-1.3048341218437391,-1.570796326794897,-0.41200038876251105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.93999999999772,"qpos":[-1.982796715557417,-1.5377242490709475,1.2717620441198618,-1.3048341218438735,-1.5707963267949272,-0.41200038876251466,0.0029336111706569513,0.00015630155546309262,0.0031934794732457346,-0.0034292989411976206,0.0029336110748670744,0.00015630111267040197,0.003197849382796307,-0.0034379968906098706,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,-1.880924216215847e-17,-5.689394507768285e-18,-2.5253432458967497e-07],"qvel":[-6.866345679515615e-12,2.2064486349219003e-13,-2.7293803984935446e-12,-1.2864218728026416e-11,-3.1436204555814755e-11,-1.1078147640779244e-14,-2.6796159600494188e-09,-1.537681918844294e-08,1.441560414238123e-08,1.3297131259199836e-09,1.8388809990467987e-09,9.965754129177267e-09,-9.551431954412871e-09,-7.124735329660594e-10,3.1135788305352737e-18,-2.2567699858881132e-17,1.094904171481545e-14,1.0704843842656474e-15,1.8533731153550637e-16,-4.7376160525664586e-09],"joint_position_rad":[-1.982796715557417,-1.5377242490709475,1.2717620441198618,-1.3048341218438735,-1.5707963267949272,-0.41200038876251466],"joint_velocity_rad_s":[-6.866345679515615e-12,2.2064486349219003e-13,-2.7293803984935446e-12,-1.2864218728026416e-11,-3.1436204555814755e-11,-1.1078147640779244e-14],"linkage_position_rad":[0.0029336111706569513,0.00015630155546309262,0.0031934794732457346,-0.0034292989411976206,0.0029336110748670744,0.00015630111267040197,0.003197849382796307,-0.0034379968906098706],"tcp_position_m":[0.07433918934879492,0.5047373576544977,0.4349999999999793],"tcp_quaternion_wxyz":[2.8190923691019866e-15,0.7071067811865492,0.707106781186545,3.478784921729996e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,-1.880924216215847e-17,-5.689394507768285e-18,-2.5253432458967497e-07],"object_linear_velocity_m_s":[3.1135788305352737e-18,-2.2567699858881132e-17,1.094904171481545e-14],"object_angular_velocity_rad_s":[1.0704844779274865e-15,1.8533677068915918e-16,-4.737616052566466e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221270873,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683538,1.261619068687723,-1.3096608189181134,-1.5707950771321906,-0.41200038876251105,0.0],"actuator_force":[2.7657733880914748e-09,-21.685375225269127,-20.285950863185917,-2.41334853583362,0.0006248345119956866,2.9274360713316128e-12,-0.29336110807252647],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708962,1.2717620441197368,-1.304834121843738,-1.5707963267948966,-0.4120003887625114],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.93999999999772,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708962,1.2717620441197368,-1.304834121843738,-1.5707963267948966,-0.4120003887625114],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.959999999997745,"qpos":[-1.9827967155574115,-1.537724249070943,1.2717620441198514,-1.3048341218438502,-1.5707963267948999,-0.41200038876251466,0.0029336111715963947,0.00015630156300325463,0.0031934794667637903,-0.003429298942488881,0.002933611074702455,0.00015630110770813036,0.003197849387658102,-0.0034379968901956295,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,2.003586967994806e-18,6.01546209064841e-18,-2.529950785239884e-07],"qvel":[2.1008530618438047e-12,2.525594003907347e-13,2.0001418972755073e-13,3.3353676442284277e-12,5.644103094851424e-12,1.9883448977704175e-14,8.821881028421252e-10,4.705015290221732e-09,-4.55285147343888e-09,-3.765396480165578e-10,-7.546898145438872e-10,-3.0408892356274527e-09,2.8704660365750562e-09,2.6979178274114454e-10,-9.86834848706498e-18,-4.581240876265424e-19,1.0860223872845435e-14,9.5025615310473e-16,4.503111769736143e-16,-1.9043729940217994e-08],"joint_position_rad":[-1.9827967155574115,-1.537724249070943,1.2717620441198514,-1.3048341218438502,-1.5707963267948999,-0.41200038876251466],"joint_velocity_rad_s":[2.1008530618438047e-12,2.525594003907347e-13,2.0001418972755073e-13,3.3353676442284277e-12,5.644103094851424e-12,1.9883448977704175e-14],"linkage_position_rad":[0.0029336111715963947,0.00015630156300325463,0.0031934794667637903,-0.003429298942488881,0.002933611074702455,0.00015630110770813036,0.003197849387658102,-0.0034379968901956295],"tcp_position_m":[0.07433918934878417,0.5047373576544978,0.4349999999999795],"tcp_quaternion_wxyz":[-6.755534184624175e-15,0.7071067811865472,0.7071067811865475,2.169629485574386e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,2.003586967994806e-18,6.01546209064841e-18,-2.529950785239884e-07],"object_linear_velocity_m_s":[-9.86834848706498e-18,-4.581240876265424e-19,1.0860223872845435e-14],"object_angular_velocity_rad_s":[9.502563807285196e-16,4.50310696229609e-16,-1.9043729940218028e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221286807,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877211,-1.309660818918112,-1.5707950771321897,-0.4120003887625114,0.0],"actuator_force":[-8.326423994731158e-10,-21.68537522528959,-20.28595086434052,-2.413348537464458,0.0006248307906844275,-3.410605131648481e-13,-0.29336111295243394],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.304834121843738,-1.5707963267948966,-0.41200038876251166],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.959999999997745,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.304834121843738,-1.5707963267948966,-0.41200038876251166],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.97999999999777,"qpos":[-1.9827967155574153,-1.5377242490709386,1.2717620441198387,-1.304834121843846,-1.5707963267949137,-0.41200038876251466,0.002933611168844742,0.00015630154994083145,0.0031934794800925924,-0.0034292989423902825,0.0029336110771455695,0.00015630111598932683,0.003197849379525944,-0.0034379968905263484,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,1.1584533108881811e-18,5.128603198998183e-18,-2.532446642471934e-07],"qvel":[1.637531038642949e-12,1.78006730017673e-13,-5.551935163038234e-14,4.157344243692621e-12,8.835399916801102e-12,2.4604025986296815e-14,3.075221348189753e-10,2.3155482134561045e-09,-2.0683957395754802e-09,-2.785618243945534e-10,-7.374120388112473e-11,-1.5115922604210584e-09,1.5196830061160376e-09,6.257771243830409e-11,5.060418143601875e-18,-1.534721677461164e-17,1.0842182748695274e-14,-1.3001808774793646e-15,-6.655572068775044e-16,-7.654981872990662e-08],"joint_position_rad":[-1.9827967155574153,-1.5377242490709386,1.2717620441198387,-1.304834121843846,-1.5707963267949137,-0.41200038876251466],"joint_velocity_rad_s":[1.637531038642949e-12,1.78006730017673e-13,-5.551935163038234e-14,4.157344243692621e-12,8.835399916801102e-12,2.4604025986296815e-14],"linkage_position_rad":[0.002933611168844742,0.00015630154994083145,0.0031934794800925924,-0.0034292989423902825,0.0029336110771455695,0.00015630111598932683,0.003197849379525944,-0.0034379968905263484],"tcp_position_m":[0.07433918934879039,0.5047373576544981,0.4349999999999832],"tcp_quaternion_wxyz":[-1.1073136602329307e-15,0.7071067811865489,0.7071067811865458,2.6239871507283204e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,1.1584533108881811e-18,5.128603198998183e-18,-2.532446642471934e-07],"object_linear_velocity_m_s":[5.060418143601875e-18,-1.534721677461164e-17,1.0842182748695274e-14],"object_angular_velocity_rad_s":[-1.3001812153620102e-15,-6.655565481723217e-16,-7.654981872990678e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322124643,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835368,1.2616190686877211,-1.3096608189181118,-1.5707950771321895,-0.41200038876251166,0.0],"actuator_force":[-6.39829522697255e-10,-21.685375225267762,-20.285950864212737,-2.4133485375487,0.0006248304786140579,-9.663381206337363e-13,-0.2933611134684202],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437385,-1.5707963267948968,-0.4120003887625111],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.97999999999777,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437385,-1.5707963267948968,-0.4120003887625111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.999999999997794,"qpos":[-1.9827967155574184,-1.5377242490709342,1.2717620441198274,-1.304834121843844,-1.5707963267949325,-0.41200038876251466,0.0029336111692450616,0.0001563015481394452,0.0031934794804803113,-0.00342929894081413,0.0029336110762260077,0.00015630111734743086,0.0031978493785141684,-0.003437996891024473,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999689,-3.7247729346432905e-18,1.7962527862331943e-18,-2.535349179354295e-07],"qvel":[-2.453589596077675e-12,1.279453458146274e-13,-1.5949638410593118e-12,-1.7991720153081993e-12,-3.5012113778077666e-12,1.8495948252215127e-14,-1.284310018443579e-09,-6.854011385916119e-09,6.697520961061286e-09,4.481179315046017e-10,1.2359068934738322e-09,4.377791922533342e-09,-3.966393432326541e-09,-4.3484565170482246e-10,-1.2365076915943981e-18,-4.98857110579355e-18,1.083108051844902e-14,1.4857770286508957e-16,7.863546629831112e-18,-8.284024733826234e-09],"joint_position_rad":[-1.9827967155574184,-1.5377242490709342,1.2717620441198274,-1.304834121843844,-1.5707963267949325,-0.41200038876251466],"joint_velocity_rad_s":[-2.453589596077675e-12,1.279453458146274e-13,-1.5949638410593118e-12,-1.7991720153081993e-12,-3.5012113778077666e-12,1.8495948252215127e-14],"linkage_position_rad":[0.0029336111692450616,0.0001563015481394452,0.0031934794804803113,-0.00342929894081413,0.0029336110762260077,0.00015630111734743086,0.0031978493785141684,-0.003437996891024473],"tcp_position_m":[0.07433918934879716,0.504737357654498,0.4349999999999861],"tcp_quaternion_wxyz":[6.8458720213757795e-15,0.7071067811865498,0.7071067811865447,3.16832202153289e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999689,-3.7247729346432905e-18,1.7962527862331943e-18,-2.535349179354295e-07],"object_linear_velocity_m_s":[-1.2365076915943981e-18,-4.98857110579355e-18,1.083108051844902e-14],"object_angular_velocity_rad_s":[1.4857770682267768e-16,7.863471228846498e-18,-8.28402473382625e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221247584,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.261619068687721,-1.3096608189181125,-1.57079507713219,-0.4120003887625111,0.0],"actuator_force":[1.0027179087046534e-09,-21.68537522525685,-20.285950863574726,-2.4133485369542313,0.0006248317215522547,-5.684341886080802e-14,-0.2933611120315378],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708964,1.271762044119738,-1.3048341218437387,-1.570796326794897,-0.4120003887625113],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.999999999997794,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708964,1.271762044119738,-1.3048341218437387,-1.570796326794897,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.019999999997818,"qpos":[-1.9827967155574084,-1.5377242490709297,1.2717620441198214,-1.3048341218438197,-1.5707963267948974,-0.41200038876251466,0.002933611172516004,0.00015630156766016976,0.0031934794622573807,-0.003429298942905563,0.002933611073865299,0.00015630110470018596,0.0031978493904420897,-0.0034379968898656504,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999678,1.0618542152293829e-17,-4.142307380439562e-18,-2.539516493970632e-07],"qvel":[1.8791354052465633e-12,2.0446119675155632e-13,3.0215854745435986e-13,2.4785260572965215e-12,3.8323067153925775e-12,1.7706541356909362e-14,1.0392689819921426e-09,5.064515008995504e-09,-4.982571969621271e-09,-3.4243802683500486e-10,-9.586364682987123e-10,-3.2707472889901604e-09,3.072204654544735e-09,3.081079644432999e-10,7.703651898638113e-18,1.5259870447538824e-17,1.1515255457374272e-14,1.174257578958329e-15,-4.3775140065146427e-16,-3.3299180030389746e-08],"joint_position_rad":[-1.9827967155574084,-1.5377242490709297,1.2717620441198214,-1.3048341218438197,-1.5707963267948974,-0.41200038876251466],"joint_velocity_rad_s":[1.8791354052465633e-12,2.0446119675155632e-13,3.0215854745435986e-13,2.4785260572965215e-12,3.8323067153925775e-12,1.7706541356909362e-14],"linkage_position_rad":[0.002933611172516004,0.00015630156766016976,0.0031934794622573807,-0.003429298942905563,0.002933611073865299,0.00015630110470018596,0.0031978493904420897,-0.0034379968898656504],"tcp_position_m":[0.07433918934878239,0.5047373576544987,0.4349999999999843],"tcp_quaternion_wxyz":[-5.3444908847809886e-15,0.7071067811865462,0.7071067811865485,1.4838767948961962e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999678,1.0618542152293829e-17,-4.142307380439562e-18,-2.539516493970632e-07],"object_linear_velocity_m_s":[7.703651898638113e-18,1.5259870447538824e-17,1.1515255457374272e-14],"object_angular_velocity_rad_s":[1.1742573568986682e-15,-4.3775199635352843e-16,-3.3299180030389746e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221300763,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835377,1.2616190686877222,-1.3096608189181127,-1.5707950771321904,-0.4120003887625113,0.0],"actuator_force":[-7.507878763135523e-10,-21.685375225297776,-20.285950864319602,-2.413348537394313,0.0006248309703096311,-8.526512829121202e-14,-0.2933611127222277],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708962,1.2717620441197377,-1.3048341218437385,-1.5707963267948963,-0.412000388762511],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.019999999997818,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708962,1.2717620441197377,-1.3048341218437385,-1.5707963267948963,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.039999999997843,"qpos":[-1.9827967155574118,-1.5377242490709262,1.2717620441198119,-1.304834121843817,-1.5707963267949068,-0.41200038876251455,0.0029336111693990946,0.00015630155359838233,0.00319347947674731,-0.003429298942850934,0.0029336110767868508,0.00015630111363230438,0.0031978493817420386,-0.003437996890301555,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999678,1.1295603462610884e-17,-5.09155651556245e-18,-2.540779097851271e-07],"qvel":[2.21907061052849e-12,1.4473207267893447e-13,3.963433654039714e-13,4.01472268756828e-12,8.039377422649515e-12,2.480232998211164e-14,6.957152527437153e-10,4.160939263616497e-09,-3.928669138563008e-09,-3.9238185006265434e-10,-4.996377703103959e-10,-2.6857264056289774e-09,2.570454274266363e-09,2.0651856789957692e-10,4.585692685865453e-18,1.19463200443885e-17,1.1531908802743645e-14,-4.65303800129285e-16,1.4560376887356e-16,-3.6035517204967685e-09],"joint_position_rad":[-1.9827967155574118,-1.5377242490709262,1.2717620441198119,-1.304834121843817,-1.5707963267949068,-0.41200038876251455],"joint_velocity_rad_s":[2.21907061052849e-12,1.4473207267893447e-13,3.963433654039714e-13,4.01472268756828e-12,8.039377422649515e-12,2.480232998211164e-14],"linkage_position_rad":[0.0029336111693990946,0.00015630155359838233,0.00319347947674731,-0.003429298942850934,0.0029336110767868508,0.00015630111363230438,0.0031978493817420386,-0.003437996890301555],"tcp_position_m":[0.0743391893487869,0.5047373576544991,0.43499999999998684],"tcp_quaternion_wxyz":[-1.6871019215606759e-15,0.7071067811865477,0.707106781186547,1.819560768432306e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999678,1.1295603462610884e-17,-5.09155651556245e-18,-2.540779097851271e-07],"object_linear_velocity_m_s":[4.585692685865453e-18,1.19463200443885e-17,1.1531908802743645e-14],"object_angular_velocity_rad_s":[-4.653037261031271e-16,1.456040054017837e-16,-3.6035517204967694e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221256212,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.261619068687722,-1.3096608189181123,-1.5707950771321892,-0.412000388762511,0.0],"actuator_force":[-8.799361239653081e-10,-21.685375225280495,-20.2859508643387,-2.413348537549041,0.0006248305547842392,-6.821210263296962e-13,-0.29336111328968467],"issued_joint_targets_rad":[-1.982796715557408,-1.537724249070896,1.271762044119737,-1.304834121843738,-1.5707963267948966,-0.4120003887625117],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.039999999997843,"joint_targets_rad":[-1.982796715557408,-1.537724249070896,1.271762044119737,-1.304834121843738,-1.5707963267948966,-0.4120003887625117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.059999999997867,"qpos":[-1.9827967155574169,-1.537724249070923,1.2717620441198028,-1.3048341218438193,-1.570796326794926,-0.41200038876251455,0.002933611168719254,0.00015630154626197643,0.0031934794826115245,-0.003429298940941233,0.00293361107696109,0.0001563011185139446,0.003197849377538913,-0.0034379968911728313,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999678,-5.76157115367163e-18,1.5361724178743186e-18,-2.545271651480524e-07],"qvel":[3.08768700683392e-13,6.603561949265958e-14,-4.795509010753055e-13,2.828346650846752e-12,7.073318090987173e-12,2.4081318976180202e-14,-3.8457518667612966e-10,-1.3475952580307708e-09,1.531311867426303e-09,-6.953679620841365e-11,5.979198287736396e-10,8.221683336874651e-10,-6.00577992127984e-10,-1.6022881768031372e-10,-2.0003182445237896e-18,-4.164927377791509e-18,1.1598522184221154e-14,-3.9868204885141643e-16,2.176957273802481e-16,-1.4485147177254066e-08],"joint_position_rad":[-1.9827967155574169,-1.537724249070923,1.2717620441198028,-1.3048341218438193,-1.570796326794926,-0.41200038876251455],"joint_velocity_rad_s":[3.08768700683392e-13,6.603561949265958e-14,-4.795509010753055e-13,2.828346650846752e-12,7.073318090987173e-12,2.4081318976180202e-14],"linkage_position_rad":[0.002933611168719254,0.00015630154626197643,0.0031934794826115245,-0.003429298940941233,0.00293361107696109,0.0001563011185139446,0.003197849377538913,-0.0034379968911728313],"tcp_position_m":[0.07433918934879517,0.5047373576544993,0.43499999999999006],"tcp_quaternion_wxyz":[5.881930850380042e-15,0.7071067811865495,0.7071067811865452,2.5418104284998694e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999678,-5.76157115367163e-18,1.5361724178743186e-18,-2.545271651480524e-07],"object_linear_velocity_m_s":[-2.0003182445237896e-18,-4.164927377791509e-18,1.1598522184221154e-14],"object_angular_velocity_rad_s":[-3.9868193807691557e-16,2.1769593016412896e-16,-1.4485147177254073e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221239395,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557408,-1.5485669366835373,1.2616190686877213,-1.3096608189181118,-1.5707950771321895,-0.4120003887625117,0.0],"actuator_force":[-1.0595613275654614e-10,-21.685375225254575,-20.28595086397081,-2.4133485374291013,0.0006248306609677456,-9.947598300641403e-13,-0.29336111335074044],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708964,1.2717620441197375,-1.304834121843738,-1.5707963267948966,-0.41200038876251155],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.059999999997867,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708964,1.2717620441197375,-1.304834121843738,-1.5707963267948966,-0.41200038876251155],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.07999999999789,"qpos":[-1.9827967155574056,-1.5377242490709202,1.2717620441198,-1.304834121843798,-1.570796326794895,-0.41200038876251455,0.0029336111735329203,0.00015630157236729843,0.0031934794576340235,-0.00342929894325584,0.0029336110728945502,0.00015630110166154628,0.00319784939326155,-0.0034379968895267856,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999678,-1.0011575447057955e-17,-1.1038433425068549e-17,-2.548657942313622e-07],"qvel":[1.5290809784415323e-12,1.6423196143829197e-13,2.872945957005697e-13,1.6969658313433644e-12,2.2609177779826323e-12,1.4230562775893044e-14,1.1337812553279787e-09,5.088271313764396e-09,-5.084305251735102e-09,-2.7386088394220524e-10,-1.090092967220839e-09,-3.287426237767558e-09,3.0914015779614158e-09,3.126901769095725e-10,4.059634672273942e-17,-2.3446276778590307e-17,1.1538847696647549e-14,-5.055679205863392e-16,-2.8734680926781915e-15,-5.822574643600554e-08],"joint_position_rad":[-1.9827967155574056,-1.5377242490709202,1.2717620441198,-1.304834121843798,-1.570796326794895,-0.41200038876251455],"joint_velocity_rad_s":[1.5290809784415323e-12,1.6423196143829197e-13,2.872945957005697e-13,1.6969658313433644e-12,2.2609177779826323e-12,1.4230562775893044e-14],"linkage_position_rad":[0.0029336111735329203,0.00015630157236729843,0.0031934794576340235,-0.00342929894325584,0.0029336110728945502,0.00015630110166154628,0.00319784939326155,-0.0034379968895267856],"tcp_position_m":[0.07433918934878053,0.5047373576544998,0.4349999999999877],"tcp_quaternion_wxyz":[-4.666291688191396e-15,0.7071067811865454,0.7071067811865496,9.758233912489495e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999678,-1.0011575447057955e-17,-1.1038433425068549e-17,-2.548657942313622e-07],"object_linear_velocity_m_s":[4.059634672273942e-17,-2.3446276778590307e-17,1.1538847696647549e-14],"object_angular_velocity_rad_s":[-5.055693839982874e-16,-2.8734678361397436e-15,-5.822574643600558e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221315102,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683538,1.2616190686877218,-1.309660818918112,-1.57079507713219,-0.41200038876251155,0.0],"actuator_force":[-6.157279131002724e-10,-21.68537522530096,-20.285950864271854,-2.413348537326783,0.0006248311265153461,8.526512829121202e-14,-0.29336111253981495],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708962,1.2717620441197375,-1.304834121843738,-1.5707963267948966,-0.4120003887625107],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.07999999999789,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708962,1.2717620441197375,-1.304834121843738,-1.5707963267948966,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.099999999997916,"qpos":[-1.9827967155574093,-1.5377242490709186,1.2717620441197923,-1.3048341218437962,-1.570796326794902,-0.41200038876251444,0.0029336111714811652,0.00015630156111147637,0.0031934794679997023,-0.0034292989417058933,0.002933611074790384,0.00015630110900179703,0.0031978493868673515,-0.0034379968906784472,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999678,-8.479719521206777e-18,-1.753203596574768e-17,-2.550865685967852e-07],"qvel":[2.29391259689896e-12,1.3044042900492763e-13,5.811933365868356e-13,3.3266404572345833e-12,6.166273680424192e-12,2.210638596732514e-14,8.365347872033401e-10,4.751136741010877e-09,-4.513117456184426e-09,-4.789040193069581e-10,-6.963770594117505e-10,-3.077646676973129e-09,2.8709752085142628e-09,3.0462089497700576e-10,1.9616437239245642e-17,-1.1172466337116011e-17,1.1477785430293163e-14,3.9634853151291633e-16,4.763318744727247e-16,-6.301040702960192e-09],"joint_position_rad":[-1.9827967155574093,-1.5377242490709186,1.2717620441197923,-1.3048341218437962,-1.570796326794902,-0.41200038876251444],"joint_velocity_rad_s":[2.29391259689896e-12,1.3044042900492763e-13,5.811933365868356e-13,3.3266404572345833e-12,6.166273680424192e-12,2.210638596732514e-14],"linkage_position_rad":[0.0029336111714811652,0.00015630156111147637,0.0031934794679997023,-0.0034292989417058933,0.002933611074790384,0.00015630110900179703,0.0031978493868673515,-0.0034379968906784472],"tcp_position_m":[0.07433918934878461,0.5047373576544997,0.4349999999999905],"tcp_quaternion_wxyz":[-2.140917504151617e-15,0.7071067811865467,0.707106781186548,1.3055185061993626e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999678,-8.479719521206777e-18,-1.753203596574768e-17,-2.550865685967852e-07],"object_linear_velocity_m_s":[1.9616437239245642e-17,-1.1172466337116011e-17,1.1477785430293163e-14],"object_angular_velocity_rad_s":[3.9634877474553186e-16,4.763316721594271e-16,-6.301040702960196e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322128222,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835377,1.2616190686877218,-1.3096608189181118,-1.5707950771321897,-0.4120003887625107,0.0],"actuator_force":[-9.149516699835658e-10,-21.6853752252905,-20.285950864373717,-2.4133485374903785,0.0006248307396390373,-3.694822225952521e-13,-0.2933611130143661],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.271762044119737,-1.3048341218437383,-1.5707963267948968,-0.4120003887625106],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.099999999997916,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.271762044119737,-1.3048341218437383,-1.5707963267948968,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.11999999999794,"qpos":[-1.9827967155574144,-1.537724249070917,1.2717620441197846,-1.3048341218437982,-1.5707963267949172,-0.4120003887625143,0.002933611169017425,0.0001563015482467761,0.003193479480615052,-0.003429298941128308,0.0029336110769045774,0.00015630111716249265,0.0031978493791539496,-0.003437996891199955,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999678,-1.9158516063445087e-17,-1.21227092512885e-17,-2.5550262543529507e-07],"qvel":[1.8208942901338703e-12,6.267263566108877e-14,2.8641923021634323e-13,4.244847955399912e-12,9.579143490593358e-12,2.905738715684782e-14,1.9750542461472612e-10,2.04549742256925e-09,-1.7070748288216556e-09,-3.879825103666887e-10,5.766065125086635e-11,-1.3518377619690634e-09,1.353155066938141e-09,8.030475273067871e-11,1.7008486428466726e-17,-2.8798829862401244e-17,1.138064091563846e-14,-2.4560787425006765e-16,9.086056631721428e-16,-2.532820645617284e-08],"joint_position_rad":[-1.9827967155574144,-1.537724249070917,1.2717620441197846,-1.3048341218437982,-1.5707963267949172,-0.4120003887625143],"joint_velocity_rad_s":[1.8208942901338703e-12,6.267263566108877e-14,2.8641923021634323e-13,4.244847955399912e-12,9.579143490593358e-12,2.905738715684782e-14],"linkage_position_rad":[0.002933611169017425,0.0001563015482467761,0.003193479480615052,-0.003429298941128308,0.0029336110769045774,0.00015630111716249265,0.0031978493791539496,-0.003437996891199955],"tcp_position_m":[0.0743391893487915,0.5047373576544995,0.4349999999999937],"tcp_quaternion_wxyz":[3.3219752141579076e-15,0.7071067811865486,0.7071067811865459,1.9779730899023425e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999678,-1.9158516063445087e-17,-1.21227092512885e-17,-2.5550262543529507e-07],"object_linear_velocity_m_s":[1.7008486428466726e-17,-2.8798829862401244e-17,1.138064091563846e-14],"object_angular_velocity_rad_s":[-2.456074093336782e-16,9.086057877084365e-16,-2.5328206456172862e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221243164,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835373,1.2616190686877213,-1.309660818918112,-1.5707950771321897,-0.4120003887625106,0.0],"actuator_force":[-7.153175829444081e-10,-21.68537522526549,-20.28595086424093,-2.4133485375814416,0.0006248304058544818,-1.0516032489249483e-12,-0.2933611135719305],"issued_joint_targets_rad":[-1.982796715557408,-1.537724249070896,1.2717620441197375,-1.3048341218437383,-1.5707963267948966,-0.41200038876251177],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.11999999999794,"joint_targets_rad":[-1.982796715557408,-1.537724249070896,1.2717620441197375,-1.3048341218437383,-1.5707963267948966,-0.41200038876251177],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.139999999997965,"qpos":[-1.9827967155574096,-1.537724249070915,1.271762044119782,-1.304834121843791,-1.5707963267949172,-0.4120003887625143,0.0029336111718541334,0.00015630156333836862,0.0031934794662170913,-0.0034292989424288775,0.002933611074008701,0.00015630110754302062,0.0031978493874115018,-0.003437996889940076,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999678,-1.4239536757415322e-17,-1.1281305805149278e-17,-2.5570355798367025e-07],"qvel":[-4.619227841560021e-12,1.0592615866325136e-13,-1.5584558083405427e-12,-9.15245104464885e-12,-2.2205410333433148e-11,-8.851788958144132e-15,-1.6041664281613875e-09,-8.759931823987973e-09,8.27706778826633e-09,8.915231123999092e-10,1.0335332396041873e-09,5.772163127337942e-09,-5.764869034295052e-09,-4.107709041787548e-10,7.143203365252464e-17,-1.623689711057183e-17,1.1327905321968764e-14,7.231626113629303e-16,-4.6267429981802306e-15,-1.0181144235189892e-07],"joint_position_rad":[-1.9827967155574096,-1.537724249070915,1.271762044119782,-1.304834121843791,-1.5707963267949172,-0.4120003887625143],"joint_velocity_rad_s":[-4.619227841560021e-12,1.0592615866325136e-13,-1.5584558083405427e-12,-9.15245104464885e-12,-2.2205410333433148e-11,-8.851788958144132e-15],"linkage_position_rad":[0.0029336111718541334,0.00015630156333836862,0.0031934794662170913,-0.0034292989424288775,0.002933611074008701,0.00015630110754302062,0.0031978493874115018,-0.003437996889940076],"tcp_position_m":[0.07433918934878875,0.5047373576544989,0.43499999999999317],"tcp_quaternion_wxyz":[4.650973174922792e-15,0.7071067811865465,0.7071067811865478,1.650062644298401e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999678,-1.4239536757415322e-17,-1.1281305805149278e-17,-2.5570355798367025e-07],"object_linear_velocity_m_s":[7.143203365252464e-17,-1.623689711057183e-17,1.1327905321968764e-14],"object_angular_velocity_rad_s":[7.231602475106747e-16,-4.626743370909632e-15,-1.0181144235189902e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221291979,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557408,-1.5485669366835375,1.2616190686877218,-1.3096608189181123,-1.5707950771321901,-0.41200038876251177,0.0],"actuator_force":[1.8503669707570225e-09,-21.685375225287316,-20.28595086349742,-2.4133485362452802,0.0006248335840837171,2.1600499167107046e-12,-0.2933611094399758],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708962,1.2717620441197375,-1.3048341218437378,-1.5707963267948966,-0.412000388762512],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.139999999997965,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708962,1.2717620441197375,-1.3048341218437378,-1.5707963267948966,-0.412000388762512],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.15999999999799,"qpos":[-1.9827967155574069,-1.5377242490709144,1.271762044119778,-1.3048341218437793,-1.5707963267948981,-0.4120003887625143,0.002933611172373093,0.00015630156583703794,0.0031934794635358503,-0.0034292989422285967,0.0029336110739943823,0.00015630110586691625,0.0031978493897617017,-0.003437996890331068,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999678,-7.824727063662088e-18,-2.255274133264547e-17,-2.560895960845772e-07],"qvel":[2.065389835785762e-12,1.306915386236796e-13,5.991294125108041e-13,2.4995065222945484e-12,4.228523581827931e-12,1.2542862505072473e-14,1.0074790101421515e-09,5.174359048697756e-09,-5.004032346085755e-09,-4.506883298498344e-10,-9.169196394486047e-10,-3.3396854618813207e-09,3.0930561474131553e-09,3.5200999352040393e-10,2.6318797966054058e-17,-1.0098156617464533e-17,1.1193290780232963e-14,3.3792913374595527e-16,6.242642438904554e-16,-1.1017772747516381e-08],"joint_position_rad":[-1.9827967155574069,-1.5377242490709144,1.271762044119778,-1.3048341218437793,-1.5707963267948981,-0.4120003887625143],"joint_velocity_rad_s":[2.065389835785762e-12,1.306915386236796e-13,5.991294125108041e-13,2.4995065222945484e-12,4.228523581827931e-12,1.2542862505072473e-14],"linkage_position_rad":[0.002933611172373093,0.00015630156583703794,0.0031934794635358503,-0.0034292989422285967,0.0029336110739943823,0.00015630110586691625,0.0031978493897617017,-0.003437996890331068],"tcp_position_m":[0.07433918934878196,0.504737357654499,0.43499999999999356],"tcp_quaternion_wxyz":[-2.82776481861177e-15,0.7071067811865458,0.7071067811865487,9.132910751911965e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999678,-7.824727063662088e-18,-2.255274133264547e-17,-2.560895960845772e-07],"object_linear_velocity_m_s":[2.6318797966054058e-17,-1.0098156617464533e-17,1.1193290780232963e-14],"object_angular_velocity_rad_s":[3.3792945397802937e-16,6.242640706376813e-16,-1.1017772747516393e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221295273,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835377,1.2616190686877218,-1.3096608189181118,-1.57079507713219,-0.412000388762512,0.0],"actuator_force":[-8.276401786133647e-10,-21.685375225298685,-20.28595086435189,-2.4133485374162547,0.0006248309313150457,-8.526512829121202e-14,-0.2933611127711706],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708964,1.2717620441197375,-1.3048341218437378,-1.5707963267948963,-0.4120003887625111],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.15999999999799,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708964,1.2717620441197375,-1.3048341218437378,-1.5707963267948963,-0.4120003887625111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.179999999998014,"qpos":[-1.9827967155574115,-1.5377242490709138,1.2717620441197726,-1.3048341218437807,-1.5707963267949088,-0.4120003887625143,0.0029336111694882407,0.00015630155174410144,0.0031934794775417565,-0.0034292989417234808,0.0029336110766504356,0.00015630111481157582,0.003197849381342645,-0.0034379968909648614,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999678,-8.620071096526384e-18,-5.209446613439348e-17,-2.5644653318085934e-07],"qvel":[2.4420861453565412e-12,7.957083584500496e-14,6.84884488839137e-13,4.165661957708288e-12,8.720099738511968e-12,2.3587707338778237e-14,6.103436161653138e-10,4.0710049901435595e-09,-3.726866628477742e-09,-5.187887786120502e-10,-3.9470525870074447e-10,-2.6323272338227296e-09,2.480815179320419e-09,2.409105486716099e-10,9.490062211891039e-17,-1.8343475068301838e-17,1.1125289619974668e-14,-2.517576725587066e-16,-3.836721150476444e-15,-4.428798923726749e-08],"joint_position_rad":[-1.9827967155574115,-1.5377242490709138,1.2717620441197726,-1.3048341218437807,-1.5707963267949088,-0.4120003887625143],"joint_velocity_rad_s":[2.4420861453565412e-12,7.957083584500496e-14,6.84884488839137e-13,4.165661957708288e-12,8.720099738511968e-12,2.3587707338778237e-14],"linkage_position_rad":[0.0029336111694882407,0.00015630155174410144,0.0031934794775417565,-0.0034292989417234808,0.0029336110766504356,0.00015630111481157582,0.003197849381342645,-0.0034379968909648614],"tcp_position_m":[0.07433918934878722,0.504737357654499,0.43499999999999595],"tcp_quaternion_wxyz":[9.87537503981718e-16,0.7071067811865476,0.7071067811865469,1.3941834644894836e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999678,-8.620071096526384e-18,-5.209446613439348e-17,-2.5644653318085934e-07],"object_linear_velocity_m_s":[9.490062211891039e-17,-1.8343475068301838e-17,1.1125289619974668e-14],"object_angular_velocity_rad_s":[-2.517596357720314e-16,-3.8367210221147124e-15,-4.4287989237267546e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221251446,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.548566936683538,1.261619068687722,-1.3096608189181116,-1.5707950771321892,-0.4120003887625111,0.0],"actuator_force":[-9.695213520899415e-10,-21.68537522528004,-20.28595086437508,-2.41334853758201,0.0006248304878226918,-7.389644451905042e-13,-0.2933611133851256],"issued_joint_targets_rad":[-1.982796715557408,-1.537724249070896,1.2717620441197373,-1.3048341218437378,-1.5707963267948966,-0.4120003887625108],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.179999999998014,"joint_targets_rad":[-1.982796715557408,-1.537724249070896,1.2717620441197373,-1.3048341218437378,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.199999999998038,"qpos":[-1.9827967155574109,-1.5377242490709124,1.2717620441197695,-1.304834121843781,-1.5707963267949208,-0.4120003887625143,0.002933611171121438,0.00015630155975393588,0.003193479469823421,-0.0034292989421866684,0.0029336110746989615,0.0001563011098390189,0.0031978493851968636,-0.0034379968901577422,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999678,-6.963412695760974e-18,-5.220798520544035e-17,-2.5661445979954965e-07],"qvel":[-1.6605217071658041e-12,6.636819927420351e-14,-9.024380970950001e-13,-1.520531688660051e-12,-2.900941986466257e-12,1.672105293459622e-14,-6.140836799744137e-10,-3.1505051430956093e-09,3.0921348901730712e-09,3.2638932878208776e-10,5.709059389657101e-10,2.0547533244811737e-09,-1.949588290101488e-09,-2.2878353511023468e-10,5.803849882944767e-17,-8.539269608232644e-18,1.1040635114346996e-14,2.1503437988050433e-16,1.932353154435571e-15,-4.792732423670509e-09],"joint_position_rad":[-1.9827967155574109,-1.5377242490709124,1.2717620441197695,-1.304834121843781,-1.5707963267949208,-0.4120003887625143],"joint_velocity_rad_s":[-1.6605217071658041e-12,6.636819927420351e-14,-9.024380970950001e-13,-1.520531688660051e-12,-2.900941986466257e-12,1.672105293459622e-14],"linkage_position_rad":[0.002933611171121438,0.00015630155975393588,0.003193479469823421,-0.0034292989421866684,0.0029336110746989615,0.0001563011098390189,0.0031978493851968636,-0.0034379968901577422],"tcp_position_m":[0.07433918934879026,0.5047373576544989,0.4349999999999968],"tcp_quaternion_wxyz":[6.172172527622701e-15,0.7071067811865475,0.7071067811865475,1.7014734961417007e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999678,-6.963412695760974e-18,-5.220798520544035e-17,-2.5661445979954965e-07],"object_linear_velocity_m_s":[5.803849882944767e-17,-8.539269608232644e-18,1.1040635114346996e-14],"object_angular_velocity_rad_s":[2.1503537212043584e-16,1.9323530440067095e-15,-4.792732423670516e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221280871,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557408,-1.5485669366835375,1.2616190686877216,-1.3096608189181118,-1.57079507713219,-0.4120003887625108,0.0],"actuator_force":[6.698428478557616e-10,-21.685375225276402,-20.285950863734342,-2.413348537013462,0.0006248316556138889,5.684341886080802e-14,-0.29336111207513127],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070896,1.271762044119737,-1.304834121843738,-1.5707963267948968,-0.4120003887625114],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.199999999998038,"joint_targets_rad":[-1.9827967155574076,-1.537724249070896,1.271762044119737,-1.304834121843738,-1.5707963267948968,-0.4120003887625114],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.219999999998063,"qpos":[-1.982796715557405,-1.537724249070912,1.2717620441197683,-1.304834121843767,-1.5707963267948961,-0.4120003887625143,0.0029336111733704088,0.00015630157066470274,0.0031934794588735576,-0.003429298942689114,0.0029336110730520146,0.00015630110273424962,0.0031978493926303466,-0.0034379968899516146,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999678,-1.6264174360554033e-17,-4.18274845429037e-17,-2.5708057404262353e-07],"qvel":[1.695821193845171e-12,1.3237534184126345e-13,5.164730866605922e-13,1.7108845962789467e-12,2.547518118122292e-12,1.395365487236387e-14,1.1130453343342931e-09,5.233256106427946e-09,-5.142073053785638e-09,-3.819371623800139e-10,-1.0623472438080067e-09,-3.376101288132224e-09,3.12603160471871e-09,3.629881307716649e-10,5.044780536890297e-17,-2.0820960794686826e-17,1.0885203890899477e-14,1.7563623928731766e-16,1.6985840638812946e-15,-1.926528045738249e-08],"joint_position_rad":[-1.982796715557405,-1.537724249070912,1.2717620441197683,-1.304834121843767,-1.5707963267948961,-0.4120003887625143],"joint_velocity_rad_s":[1.695821193845171e-12,1.3237534184126345e-13,5.164730866605922e-13,1.7108845962789467e-12,2.547518118122292e-12,1.395365487236387e-14],"linkage_position_rad":[0.0029336111733704088,0.00015630157066470274,0.0031934794588735576,-0.003429298942689114,0.0029336110730520146,0.00015630110273424962,0.0031978493926303466,-0.0034379968899516146],"tcp_position_m":[0.07433918934878035,0.5047373576544987,0.4349999999999957],"tcp_quaternion_wxyz":[-2.793692970298171e-15,0.7071067811865452,0.7071067811865495,6.4216317578599796e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999678,-1.6264174360554033e-17,-4.18274845429037e-17,-2.5708057404262353e-07],"object_linear_velocity_m_s":[5.044780536890297e-17,-2.0820960794686826e-17,1.0885203890899477e-14],"object_angular_velocity_rad_s":[1.7563711424486342e-16,1.6985839729490744e-15,-1.9265280457382522e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221309783,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877213,-1.309660818918112,-1.5707950771321901,-0.4120003887625114,0.0],"actuator_force":[-6.834852683823556e-10,-21.685375225303687,-20.285950864300048,-2.4133485373436088,0.0006248310982073235,8.526512829121202e-14,-0.2933611125746116],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.271762044119736,-1.3048341218437374,-1.5707963267948968,-0.4120003887625105],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.219999999998063,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.271762044119736,-1.3048341218437374,-1.5707963267948968,-0.4120003887625105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.239999999998087,"qpos":[-1.9827967155574089,-1.5377242490709115,1.271762044119764,-1.3048341218437673,-1.570796326794902,-0.4120003887625142,0.002933611170244874,0.00015630155638721307,0.0031934794732661957,-0.0034292989423467812,0.0029336110760514234,0.00015630111180344752,0.0031978493841020605,-0.0034379968906075825,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999678,-1.5554216212393352e-17,-1.412552257956854e-17,-2.573330633906032e-07],"qvel":[2.5095222768694105e-12,1.0570046175318395e-13,8.10922793743259e-13,3.474313526784606e-12,6.726028133721437e-12,2.24225818265959e-14,8.925902996991076e-10,5.154547301320673e-09,-4.8595415398310796e-09,-5.493875894795624e-10,-7.364972040818642e-10,-3.3159839920325645e-09,3.0697521735709263e-09,3.421105074311016e-10,-1.6223231703534268e-17,-4.996680785164783e-17,1.0826917182106652e-14,-1.3354247298308827e-15,5.333437397620226e-15,-7.744038228976944e-08],"joint_position_rad":[-1.9827967155574089,-1.5377242490709115,1.271762044119764,-1.3048341218437673,-1.570796326794902,-0.4120003887625142],"joint_velocity_rad_s":[2.5095222768694105e-12,1.0570046175318395e-13,8.10922793743259e-13,3.474313526784606e-12,6.726028133721437e-12,2.24225818265959e-14],"linkage_position_rad":[0.002933611170244874,0.00015630155638721307,0.0031934794732661957,-0.0034292989423467812,0.0029336110760514234,0.00015630111180344752,0.0031978493841020605,-0.0034379968906075825],"tcp_position_m":[0.07433918934878382,0.5047373576544986,0.4349999999999977],"tcp_quaternion_wxyz":[-7.071601379317581e-16,0.7071067811865466,0.7071067811865481,9.534303840144101e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999678,-1.5554216212393352e-17,-1.412552257956854e-17,-2.573330633906032e-07],"object_linear_velocity_m_s":[-1.6223231703534268e-17,-4.996680785164783e-17,1.0826917182106652e-14],"object_angular_velocity_rad_s":[-1.3354219827033695e-15,5.333438082508353e-15,-7.744038228976957e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.093135132212644,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.2616190686877204,-1.3096608189181111,-1.5707950771321897,-0.4120003887625105,0.0],"actuator_force":[-1.001353666651994e-09,-21.685375225293228,-20.285950864411006,-2.413348537519255,0.0006248306837051132,-3.979039320256561e-13,-0.29336111309528035],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.271762044119737,-1.304834121843738,-1.5707963267948966,-0.4120003887625109],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.239999999998087,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.271762044119737,-1.304834121843738,-1.5707963267948966,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.25999999999811,"qpos":[-1.9827967155574104,-1.5377242490709104,1.2717620441197608,-1.3048341218437705,-1.5707963267949165,-0.4120003887625142,0.0029336111710256793,0.00015630155973366824,0.0031934794700024093,-0.0034292989422551406,0.002933611074924622,0.00015630110982554356,0.0031978493852479676,-0.003437996890194377,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999678,-1.56742537657586e-17,5.6213216010348486e-18,-2.576266938256708e-07],"qvel":[1.789590826389888e-13,4.740295450470284e-14,-2.2810003857583833e-13,1.6532546233675077e-12,4.396437668081222e-12,2.25097345392254e-14,2.600938181850598e-11,4.2197972125473747e-10,-3.338912260719937e-10,8.818699764894604e-12,1.0518854263232326e-10,-2.7603220245134013e-10,3.3371333057809283e-10,-5.566600275601677e-11,-3.525500182487377e-18,-2.044107450029774e-17,1.0807488279175712e-14,6.053440900241862e-16,1.3599012341273117e-16,-8.380399234502748e-09],"joint_position_rad":[-1.9827967155574104,-1.5377242490709104,1.2717620441197608,-1.3048341218437705,-1.5707963267949165,-0.4120003887625142],"joint_velocity_rad_s":[1.789590826389888e-13,4.740295450470284e-14,-2.2810003857583833e-13,1.6532546233675077e-12,4.396437668081222e-12,2.25097345392254e-14],"linkage_position_rad":[0.0029336111710256793,0.00015630155973366824,0.0031934794700024093,-0.0034292989422551406,0.002933611074924622,0.00015630110982554356,0.0031978493852479676,-0.003437996890194377],"tcp_position_m":[0.07433918934878864,0.5047373576544983,0.434999999999999],"tcp_quaternion_wxyz":[4.907517827751265e-15,0.7071067811865469,0.7071067811865476,1.46589056525712e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999678,-1.56742537657586e-17,5.6213216010348486e-18,-2.576266938256708e-07],"object_linear_velocity_m_s":[-3.525500182487377e-18,-2.044107450029774e-17,1.0807488279175712e-14],"object_angular_velocity_rad_s":[6.05344159999261e-16,1.3598981124440732e-16,-8.380399234502765e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322127941,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877216,-1.3096608189181118,-1.5707950771321897,-0.4120003887625109,0.0],"actuator_force":[-6.59383658785373e-11,-21.685375225272765,-20.285950863986727,-2.4133485373359918,0.0006248309238117145,-5.968558980384842e-13,-0.2933611129535047],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.41200038876251155],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.25999999999811,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.41200038876251155],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.279999999998136,"qpos":[-1.9827967155574096,-1.53772424907091,1.271762044119759,-1.3048341218437687,-1.5707963267949194,-0.4120003887625142,0.002933611171465722,0.000156301560593442,0.003193479468498415,-0.0034292989419006555,0.002933611074342537,0.00015630110932069808,0.0031978493860415702,-0.0034379968903346186,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,-1.445282640023838e-17,-6.068766892279299e-18,-2.5804827344841204e-07],"qvel":[-4.904473348929909e-12,8.326731703830469e-14,-1.5377330716483842e-12,-9.91363466340885e-12,-2.3747422386669665e-11,-9.839435764194976e-15,-1.8000575063170819e-09,-9.724684925699815e-09,9.212791157258818e-09,8.648683926084243e-10,1.182531480344286e-09,6.369895369938858e-09,-6.339033190134612e-09,-4.0258889924481813e-10,9.292510764480624e-18,-2.1491131338349748e-17,1.122520969219093e-14,3.370136432796834e-16,-7.948756959889454e-16,-3.368657528222669e-08],"joint_position_rad":[-1.9827967155574096,-1.53772424907091,1.271762044119759,-1.3048341218437687,-1.5707963267949194,-0.4120003887625142],"joint_velocity_rad_s":[-4.904473348929909e-12,8.326731703830469e-14,-1.5377330716483842e-12,-9.91363466340885e-12,-2.3747422386669665e-11,-9.839435764194976e-15],"linkage_position_rad":[0.002933611171465722,0.000156301560593442,0.003193479468498415,-0.0034292989419006555,0.002933611074342537,0.00015630110932069808,0.0031978493860415702,-0.0034379968903346186],"tcp_position_m":[0.07433918934878882,0.5047373576544981,0.4349999999999994],"tcp_quaternion_wxyz":[6.366437702288815e-15,0.7071067811865467,0.707106781186548,1.4934677031322662e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,-1.445282640023838e-17,-6.068766892279299e-18,-2.5804827344841204e-07],"object_linear_velocity_m_s":[9.292510764480624e-18,-2.1491131338349748e-17,1.122520969219093e-14],"object_angular_velocity_rad_s":[3.3701323345590825e-16,-7.948758708941496e-16,-3.368657528222669e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322128429,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877207,-1.3096608189181114,-1.5707950771321901,-0.41200038876251155,0.0],"actuator_force":[1.965418050531298e-09,-21.68537522528777,-20.28595086346104,-2.413348536180024,0.0006248337393799375,2.3305801732931286e-12,-0.2933611092027828],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197366,-1.304834121843738,-1.5707963267948968,-0.4120003887625104],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.279999999998136,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197366,-1.304834121843738,-1.5707963267948968,-0.4120003887625104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.29999999999816,"qpos":[-1.9827967155574058,-1.5377242490709098,1.2717620441197577,-1.3048341218437578,-1.5707963267948972,-0.4120003887625141,0.002933611171194509,0.00015630156155000812,0.0031934794683886472,-0.003429298942930509,0.002933611075204491,0.00015630110849163857,0.0031978493870994423,-0.0034379968901969145,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,-9.437034515293884e-18,-7.458734378459488e-18,-2.5817600272173936e-07],"qvel":[2.2560467317610924e-12,1.2204198740173453e-13,7.809540413396517e-13,2.6093189180400654e-12,4.613733506729341e-12,1.9570866788824262e-14,1.0797969485248874e-09,5.616609990624415e-09,-5.398198639166689e-09,-5.136648234239564e-10,-9.793698209492567e-10,-3.6087719192992085e-09,3.320593172886996e-09,3.934958669979927e-10,7.35378214210288e-18,-1.2936167729923652e-17,1.1660972229356305e-14,5.819205081860156e-16,1.6950735846727684e-16,-3.6454746394697233e-09],"joint_position_rad":[-1.9827967155574058,-1.5377242490709098,1.2717620441197577,-1.3048341218437578,-1.5707963267948972,-0.4120003887625141],"joint_velocity_rad_s":[2.2560467317610924e-12,1.2204198740173453e-13,7.809540413396517e-13,2.6093189180400654e-12,4.613733506729341e-12,1.9570866788824262e-14],"linkage_position_rad":[0.002933611171194509,0.00015630156155000812,0.0031934794683886472,-0.003429298942930509,0.002933611075204491,0.00015630110849163857,0.0031978493870994423,-0.0034379968901969145],"tcp_position_m":[0.07433918934878074,0.5047373576544982,0.43499999999999894],"tcp_quaternion_wxyz":[-2.0874069095349135e-15,0.7071067811865451,0.7071067811865491,6.337292437508092e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,-9.437034515293884e-18,-7.458734378459488e-18,-2.5817600272173936e-07],"object_linear_velocity_m_s":[7.35378214210288e-18,-1.2936167729923652e-17,1.1660972229356305e-14],"object_angular_velocity_rad_s":[5.819205957657839e-16,1.6950705792262787e-16,-3.6454746394697233e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221279905,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835366,1.2616190686877211,-1.3096608189181118,-1.57079507713219,-0.4120003887625104,0.0],"actuator_force":[-9.058567229658365e-10,-21.685375225302323,-20.28595086438554,-2.413348537437855,0.0006248308923204604,-1.1368683772161603e-13,-0.2933611128220856],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.41200038876251066],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.29999999999816,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.319999999998185,"qpos":[-1.9827967155574087,-1.5377242490709093,1.2717620441197546,-1.3048341218437616,-1.5707963267949099,-0.4120003887625141,0.002933611171352283,0.00015630156190414747,0.00319347946801147,-0.003429298942475476,0.0029336110747552294,0.00015630110843148657,0.003197849386593018,-0.0034379968900916384,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,1.4978203354197064e-17,8.463799947137934e-19,-2.586304846216035e-07],"qvel":[1.1567429017745058e-12,5.0973181096993154e-14,2.2629126646063004e-13,2.6275797143179534e-12,6.130209920990282e-12,2.3502431700771564e-14,4.515509238659199e-10,2.5972091957096703e-09,-2.4900689596503935e-09,-1.52831087088538e-10,-2.937775656248136e-10,-1.682883015469658e-09,1.6633466127480462e-09,7.915321360075929e-11,-6.273853511575377e-19,1.3667913473283734e-17,1.1769218974257255e-14,2.7929157011465513e-16,2.5332029136929987e-16,-1.465366415675789e-08],"joint_position_rad":[-1.9827967155574087,-1.5377242490709093,1.2717620441197546,-1.3048341218437616,-1.5707963267949099,-0.4120003887625141],"joint_velocity_rad_s":[1.1567429017745058e-12,5.0973181096993154e-14,2.2629126646063004e-13,2.6275797143179534e-12,6.130209920990282e-12,2.3502431700771564e-14],"linkage_position_rad":[0.002933611171352283,0.00015630156190414747,0.00319347946801147,-0.003429298942475476,0.0029336110747552294,0.00015630110843148657,0.003197849386593018,-0.0034379968900916384],"tcp_position_m":[0.07433918934878576,0.5047373576544982,0.4350000000000005],"tcp_quaternion_wxyz":[2.539041964253811e-15,0.7071067811865461,0.7071067811865481,1.1721849012883633e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,1.4978203354197064e-17,8.463799947137934e-19,-2.586304846216035e-07],"object_linear_velocity_m_s":[-6.273853511575377e-19,1.3667913473283734e-17,1.1769218974257255e-14],"object_angular_velocity_rad_s":[2.792917011225123e-16,2.533201473416089e-16,-1.4653664156757893e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322128494,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.261619068687721,-1.3096608189181111,-1.5707950771321897,-0.41200038876251066,0.0],"actuator_force":[-4.6065906644798815e-10,-21.685375225275948,-20.285950864157712,-2.413348537437514,0.0006248307471423686,-6.536993168992922e-13,-0.29336111309424245],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708958,1.2717620441197366,-1.304834121843738,-1.5707963267948966,-0.41200038876251055],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.319999999998185,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708958,1.2717620441197366,-1.304834121843738,-1.5707963267948966,-0.41200038876251055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.33999999999821,"qpos":[-1.9827967155574104,-1.537724249070909,1.2717620441197521,-1.3048341218437647,-1.570796326794922,-0.4120003887625141,0.002933611170612536,0.0001563015565570076,0.0031934794725824362,-0.003429298941711843,0.002933611075150847,0.00015630111194873516,0.0031978493835008717,-0.0034379968905190114,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,3.573303142253875e-18,5.4423583186373764e-18,-2.5897305324032813e-07],"qvel":[-1.7298760053794853e-12,4.8064741893496417e-14,-8.552243892860165e-13,-1.6766696313271406e-12,-3.0099084670926012e-12,1.6899219439298925e-14,-7.324914474746786e-10,-3.620825995633677e-09,3.6028230747128624e-09,2.5538515961993406e-10,6.889503747110187e-10,2.342356322125969e-09,-2.2288257175826213e-09,-2.0796438450096433e-10,-1.3431796543035847e-17,-1.3033171509863855e-17,1.1695666698875841e-14,-2.1595925733140106e-15,8.111875905982598e-16,-5.890313181558488e-08],"joint_position_rad":[-1.9827967155574104,-1.537724249070909,1.2717620441197521,-1.3048341218437647,-1.570796326794922,-0.4120003887625141],"joint_velocity_rad_s":[-1.7298760053794853e-12,4.8064741893496417e-14,-8.552243892860165e-13,-1.6766696313271406e-12,-3.0099084670926012e-12,1.6899219439298925e-14],"linkage_position_rad":[0.002933611170612536,0.0001563015565570076,0.0031934794725824362,-0.003429298941711843,0.002933611075150847,0.00015630111194873516,0.0031978493835008717,-0.0034379968905190114],"tcp_position_m":[0.07433918934879002,0.5047373576544979,0.4350000000000017],"tcp_quaternion_wxyz":[7.468859157796996e-15,0.7071067811865471,0.7071067811865476,1.6226625412227548e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,3.573303142253875e-18,5.4423583186373764e-18,-2.5897305324032813e-07],"object_linear_velocity_m_s":[-1.3431796543035847e-17,-1.3033171509863855e-17,1.1695666698875841e-14],"object_angular_velocity_rad_s":[-2.1595921538034117e-15,8.11188709571674e-16,-5.8903131815584904e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221272039,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835373,1.2616190686877211,-1.3096608189181118,-1.57079507713219,-0.41200038876251055,0.0],"actuator_force":[6.980371836107224e-10,-21.685375225275493,-20.28595086371979,-2.413348537005845,0.0006248316672099463,8.526512829121202e-14,-0.2933611120704638],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948968,-0.41200038876251155],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.33999999999821,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948968,-0.41200038876251155],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.359999999998234,"qpos":[-1.9827967155574038,-1.5377242490709087,1.2717620441197526,-1.3048341218437507,-1.5707963267948941,-0.4120003887625141,0.0029336111722661723,0.00015630156682611273,0.003193479463322619,-0.0034292989434347573,0.002933611074191599,0.00015630110512064403,0.003197849390149157,-0.003437996889767302,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,-3.760012984539616e-18,5.7767724025121605e-18,-2.591963960455991e-07],"qvel":[1.853101862617874e-12,1.2759732318315729e-13,6.632350444443975e-13,1.7853602725429867e-12,2.785664331867264e-12,1.1804892768543493e-14,1.1957173275960715e-09,5.679598911140462e-09,-5.5509340495362065e-09,-4.3610968649912977e-10,-1.1392875413938658e-09,-3.651695682788272e-09,3.3615260754851307e-09,4.0425803614571855e-10,-6.8315849705782326e-18,-4.181392685724961e-18,1.1466683200046902e-14,4.111751986535737e-18,-1.2902007054222816e-16,-6.374345608599374e-09],"joint_position_rad":[-1.9827967155574038,-1.5377242490709087,1.2717620441197526,-1.3048341218437507,-1.5707963267948941,-0.4120003887625141],"joint_velocity_rad_s":[1.853101862617874e-12,1.2759732318315729e-13,6.632350444443975e-13,1.7853602725429867e-12,2.785664331867264e-12,1.1804892768543493e-14],"linkage_position_rad":[0.0029336111722661723,0.00015630156682611273,0.003193479463322619,-0.0034292989434347573,0.002933611074191599,0.00015630110512064403,0.003197849390149157,-0.003437996889767302],"tcp_position_m":[0.0743391893487787,0.5047373576544981,0.43500000000000005],"tcp_quaternion_wxyz":[-3.0337667680208925e-15,0.7071067811865444,0.7071067811865499,4.397311008632729e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,-3.760012984539616e-18,5.7767724025121605e-18,-2.591963960455991e-07],"object_linear_velocity_m_s":[-6.8315849705782326e-18,-4.181392685724961e-18,1.1466683200046902e-14],"object_angular_velocity_rad_s":[4.111685029814283e-18,-1.2902007272164872e-16,-6.374345608599378e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221296149,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835368,1.261619068687721,-1.3096608189181116,-1.57079507713219,-0.41200038876251155,0.0],"actuator_force":[-7.485141395591199e-10,-21.685375225307325,-20.285950864328242,-2.4133485373589565,0.0006248310736509666,8.526512829121202e-14,-0.29336111260503744],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708949,1.2717620441197357,-1.3048341218437376,-1.5707963267948966,-0.4120003887625101],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.359999999998234,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708949,1.2717620441197357,-1.3048341218437376,-1.5707963267948966,-0.4120003887625101],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.379999999998258,"qpos":[-1.982796715557407,-1.5377242490709084,1.2717620441197492,-1.304834121843754,-1.5707963267949043,-0.412000388762514,0.002933611171965756,0.0001563015653247138,0.0031934794647373362,-0.0034292989427557362,0.002933611074273056,0.00015630110623709648,0.003197849388678053,-0.003437996889895655,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,5.724418289028965e-19,1.1107133270602792e-17,-2.596172931968009e-07],"qvel":[1.5450520739350445e-12,6.596363880134525e-14,4.594443288377842e-13,2.5694368406880027e-12,5.535259147154438e-12,2.3872490980423426e-14,7.373920579986754e-10,3.828571263687368e-09,-3.759487148918578e-09,-2.1436805071760237e-10,-6.063772728569722e-10,-2.477256179057444e-09,2.3970840265341464e-09,1.7006070400178922e-10,-1.6414617642902352e-17,3.750698459431336e-18,1.1429213172965803e-14,3.31137451342796e-16,-8.46967597817066e-17,-2.562286917488485e-08],"joint_position_rad":[-1.982796715557407,-1.5377242490709084,1.2717620441197492,-1.304834121843754,-1.5707963267949043,-0.412000388762514],"joint_velocity_rad_s":[1.5450520739350445e-12,6.596363880134525e-14,4.594443288377842e-13,2.5694368406880027e-12,5.535259147154438e-12,2.3872490980423426e-14],"linkage_position_rad":[0.002933611171965756,0.0001563015653247138,0.0031934794647373362,-0.0034292989427557362,0.002933611074273056,0.00015630110623709648,0.003197849388678053,-0.003437996889895655],"tcp_position_m":[0.07433918934878343,0.5047373576544981,0.43500000000000183],"tcp_quaternion_wxyz":[5.609243527577366e-16,0.7071067811865461,0.7071067811865486,9.129163681791587e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,5.724418289028965e-19,1.1107133270602792e-17,-2.596172931968009e-07],"object_linear_velocity_m_s":[-1.6414617642902352e-17,3.750698459431336e-18,1.1429213172965803e-14],"object_angular_velocity_rad_s":[3.311374067960714e-16,-8.46969316903775e-17,-2.5622869174884873e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221294661,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835364,1.2616190686877202,-1.3096608189181114,-1.57079507713219,-0.4120003887625101,0.0],"actuator_force":[-6.193658919073641e-10,-21.685375225282314,-20.285950864241386,-2.4133485374355814,0.0006248308037584138,-4.547473508864641e-13,-0.29336111296701456],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.41200038876251094],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.379999999998258,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.41200038876251094],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.399999999998283,"qpos":[-1.9827967155574102,-1.5377242490709082,1.2717620441197464,-1.3048341218437591,-1.570796326794917,-0.412000388762514,0.00293361117043961,0.00015630155636503544,0.0031934794730111475,-0.0034292989418612716,0.0029336110754665406,0.00015630111206296591,0.0031978493834120803,-0.0034379968905168044,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,3.7340665348457125e-19,9.492422151856056e-18,-2.598205633497391e-07],"qvel":[2.425583779621336e-13,3.467830541079666e-14,-1.4482709074403786e-13,1.7697567577817475e-12,4.824699083817595e-12,2.159042249616726e-14,-4.243021642294542e-11,2.6963809886868315e-10,-1.090099069054802e-10,-8.64508554332392e-11,1.881306831731842e-10,-1.907583358049508e-10,2.3391607428820586e-10,-2.2079933016232185e-11,-2.2147983148793234e-17,-4.428360914958814e-18,1.126406749805281e-14,-7.566631961079513e-16,8.551650241840813e-16,-1.0299589402052365e-07],"joint_position_rad":[-1.9827967155574102,-1.5377242490709082,1.2717620441197464,-1.3048341218437591,-1.570796326794917,-0.412000388762514],"joint_velocity_rad_s":[2.425583779621336e-13,3.467830541079666e-14,-1.4482709074403786e-13,1.7697567577817475e-12,4.824699083817595e-12,2.159042249616726e-14],"linkage_position_rad":[0.00293361117043961,0.00015630155636503544,0.0031934794730111475,-0.0034292989418612716,0.0029336110754665406,0.00015630111206296591,0.0031978493834120803,-0.0034379968905168044],"tcp_position_m":[0.07433918934878855,0.5047373576544983,0.4350000000000036],"tcp_quaternion_wxyz":[5.028016623714072e-15,0.707106781186547,0.7071067811865477,1.500144905345904e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,3.7340665348457125e-19,9.492422151856056e-18,-2.598205633497391e-07],"object_linear_velocity_m_s":[-2.2147983148793234e-17,-4.428360914958814e-18,1.126406749805281e-14],"object_angular_velocity_rad_s":[-7.5666275368429405e-16,8.551654174542016e-16,-1.0299589402052374e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221269865,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.548566936683537,1.261619068687721,-1.3096608189181111,-1.5707950771321897,-0.41200038876251094,0.0],"actuator_force":[-9.231371222995222e-11,-21.685375225271855,-20.285950863993094,-2.4133485373530448,0.0006248308811791503,-6.536993168992922e-13,-0.29336111302380985],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.4120003887625106],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.399999999998283,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.419999999998307,"qpos":[-1.9827967155574089,-1.5377242490709078,1.2717620441197457,-1.3048341218437582,-1.5707963267949197,-0.412000388762514,0.0029336111701726516,0.00015630155580384635,0.0031934794738845153,-0.0034292989425945175,0.002933611075610069,0.0001563011122966501,0.00319784938297998,-0.0034379968901665013,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,-1.8961859320588802e-18,9.898245561888169e-18,-2.6021109253202353e-07],"qvel":[-5.333860711430657e-12,7.601856195258308e-14,-1.6062164477215968e-12,-1.085839825561768e-11,-2.584191795789647e-11,-8.633613559815547e-15,-1.9784516043858642e-09,-1.0635614287585532e-08,1.0100518014347994e-08,9.25386521155505e-10,1.2998999460935267e-09,6.932650551195249e-09,-6.914636887153047e-09,-4.269350920540404e-10,-1.235770529075067e-17,-2.2264450431904742e-18,1.1150269638028735e-14,-6.814384183846976e-17,-4.2080683083721537e-16,-1.114595106435208e-08],"joint_position_rad":[-1.9827967155574089,-1.5377242490709078,1.2717620441197457,-1.3048341218437582,-1.5707963267949197,-0.412000388762514],"joint_velocity_rad_s":[-5.333860711430657e-12,7.601856195258308e-14,-1.6062164477215968e-12,-1.085839825561768e-11,-2.584191795789647e-11,-8.633613559815547e-15],"linkage_position_rad":[0.0029336111701726516,0.00015630155580384635,0.0031934794738845153,-0.0034292989425945175,0.002933611075610069,0.0001563011122966501,0.00319784938297998,-0.0034379968901665013],"tcp_position_m":[0.07433918934878864,0.5047373576544981,0.43500000000000366],"tcp_quaternion_wxyz":[6.538272384811186e-15,0.7071067811865469,0.707106781186548,1.517154707290169e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,-1.8961859320588802e-18,9.898245561888169e-18,-2.6021109253202353e-07],"object_linear_velocity_m_s":[-1.235770529075067e-17,-2.2264450431904742e-18,1.1150269638028735e-14],"object_angular_velocity_rad_s":[-6.814406105632172e-17,-4.208067954158613e-16,-1.1145951064352091e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221267715,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.2616190686877204,-1.3096608189181116,-1.57079507713219,-0.4120003887625106,0.0],"actuator_force":[2.135948307113722e-09,-21.685375225289135,-20.285950863407834,-2.41334853609078,0.0006248339491321531,2.5295321393059567e-12,-0.29336110889637773],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.41200038876251077],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.419999999998307,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.43999999999833,"qpos":[-1.9827967155574056,-1.5377242490709078,1.2717620441197457,-1.3048341218437491,-1.5707963267949,-0.412000388762514,0.002933611172777117,0.00015630156936543638,0.0031934794607786803,-0.0034292989430466177,0.0029336110735551143,0.00015630110360975575,0.0031978493911705994,-0.0034379968896533202,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,-1.4358038581806593e-17,1.0970880546473195e-17,-2.6057218215506985e-07],"qvel":[1.5634520588516552e-12,7.480838575987551e-14,5.30624610533053e-13,2.1005359235794323e-12,4.166286119628836e-12,1.8284394290837655e-14,9.259802770199111e-10,4.434295123979068e-09,-4.426337968540958e-09,-2.1111417444278102e-10,-8.343135800527414e-10,-2.8661648286102023e-09,2.75252077937304e-09,2.199635621713885e-10,-1.9757736011130475e-17,-2.852767417020488e-17,1.1122514062413101e-14,-1.6044165315254953e-15,2.2421406885862423e-16,-4.4803225850557024e-08],"joint_position_rad":[-1.9827967155574056,-1.5377242490709078,1.2717620441197457,-1.3048341218437491,-1.5707963267949,-0.412000388762514],"joint_velocity_rad_s":[1.5634520588516552e-12,7.480838575987551e-14,5.30624610533053e-13,2.1005359235794323e-12,4.166286119628836e-12,1.8284394290837655e-14],"linkage_position_rad":[0.002933611172777117,0.00015630156936543638,0.0031934794607786803,-0.0034292989430466177,0.0029336110735551143,0.00015630110360975575,0.0031978493911705994,-0.0034379968896533202],"tcp_position_m":[0.0743391893487814,0.5047373576544982,0.4350000000000027],"tcp_quaternion_wxyz":[-1.08483813525062e-15,0.7071067811865456,0.7071067811865491,7.48340119378323e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,-1.4358038581806593e-17,1.0970880546473195e-17,-2.6057218215506985e-07],"object_linear_velocity_m_s":[-1.9757736011130475e-17,-2.852767417020488e-17,1.1122514062413101e-14],"object_angular_velocity_rad_s":[-1.604416415660443e-15,2.2421490370465485e-16,-4.4803225850557084e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221306462,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.261619068687721,-1.3096608189181116,-1.57079507713219,-0.41200038876251077,0.0],"actuator_force":[-6.293703336268663e-10,-21.685375225289135,-20.28595086426185,-2.4133485373912436,0.0006248309384773165,-2.2737367544323206e-13,-0.29336111277494503],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437371,-1.5707963267948963,-0.4120003887625104],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.43999999999833,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437371,-1.5707963267948963,-0.4120003887625104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.459999999998356,"qpos":[-1.982796715557409,-1.5377242490709075,1.2717620441197433,-1.3048341218437531,-1.5707963267949108,-0.41200038876251394,0.0029336111707309325,0.00015630155855371922,0.0031934794710882764,-0.003429298942188684,0.002933611075348883,0.0001563011106209635,0.003197849384776614,-0.003437996890379969,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,-1.481326505124541e-17,9.346044026328964e-18,-2.607420623946805e-07],"qvel":[1.2973372934921925e-12,4.372146776144435e-14,3.298336713859843e-13,2.832923497193096e-12,6.688510919085793e-12,2.45500195078438e-14,4.177883983100113e-10,2.647018335415881e-09,-2.454999582163478e-09,-2.5921099328977473e-10,-2.4308441771515406e-10,-1.7234605742466981e-09,1.6699714879978066e-09,1.2315427197215363e-10,-1.0517907097362596e-17,-1.7376674303952293e-17,1.1093370708016687e-14,6.909324609643786e-16,-1.3002357514439277e-16,-4.8484900063677295e-09],"joint_position_rad":[-1.982796715557409,-1.5377242490709075,1.2717620441197433,-1.3048341218437531,-1.5707963267949108,-0.41200038876251394],"joint_velocity_rad_s":[1.2973372934921925e-12,4.372146776144435e-14,3.298336713859843e-13,2.832923497193096e-12,6.688510919085793e-12,2.45500195078438e-14],"linkage_position_rad":[0.0029336111707309325,0.00015630155855371922,0.0031934794710882764,-0.003429298942188684,0.002933611075348883,0.0001563011106209635,0.003197849384776614,-0.003437996890379969],"tcp_position_m":[0.07433918934878632,0.5047373576544982,0.43500000000000427],"tcp_quaternion_wxyz":[2.806587758320709e-15,0.7071067811865467,0.707106781186548,1.224395709140389e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,-1.481326505124541e-17,9.346044026328964e-18,-2.607420623946805e-07],"object_linear_velocity_m_s":[-1.0517907097362596e-17,-1.7376674303952293e-17,1.1093370708016687e-14],"object_angular_velocity_rad_s":[6.909323930684269e-16,-1.3002393559832888e-16,-4.848490006367736e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322127496,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.2616190686877204,-1.309660818918111,-1.5707950771321895,-0.4120003887625104,0.0],"actuator_force":[-5.161382432561368e-10,-21.685375225275948,-20.285950864177266,-2.413348537462184,0.0006248306918905655,-6.821210263296962e-13,-0.2933611131775107],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.459999999998356,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.47999999999838,"qpos":[-1.9827967155574104,-1.5377242490709073,1.2717620441197417,-1.304834121843757,-1.5707963267949236,-0.41200038876251394,0.002933611169231609,0.00015630155136868795,0.003193479478399083,-0.003429298942405614,0.002933611076502184,0.00015630111514229597,0.0031978493802153453,-0.0034379968903673723,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,-1.1207574886459752e-17,-1.0234349751216343e-17,-2.612135993071541e-07],"qvel":[-1.8735988658714934e-12,4.034854060588915e-14,-8.715637911013232e-13,-1.865232430978663e-12,-3.2581055288999126e-12,1.4553334870206725e-14,-8.113935133958496e-10,-3.974992774953949e-09,3.979072227937993e-09,2.61368289247546e-10,7.641736646864656e-10,2.555254360519581e-09,-2.4454325046749914e-09,-2.189243231838649e-10,1.1600965643118909e-17,-1.3818159652957572e-17,1.0993450635800423e-14,4.0456925017912243e-16,-6.98661337820191e-16,-1.9489408443953404e-08],"joint_position_rad":[-1.9827967155574104,-1.5377242490709073,1.2717620441197417,-1.304834121843757,-1.5707963267949236,-0.41200038876251394],"joint_velocity_rad_s":[-1.8735988658714934e-12,4.034854060588915e-14,-8.715637911013232e-13,-1.865232430978663e-12,-3.2581055288999126e-12,1.4553334870206725e-14],"linkage_position_rad":[0.002933611169231609,0.00015630155136868795,0.003193479478399083,-0.003429298942405614,0.002933611076502184,0.00015630111514229597,0.0031978493802153453,-0.0034379968903673723],"tcp_position_m":[0.07433918934879055,0.5047373576544977,0.43500000000000516],"tcp_quaternion_wxyz":[7.894183531267724e-15,0.7071067811865471,0.7071067811865474,1.699848595696336e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,-1.1207574886459752e-17,-1.0234349751216343e-17,-2.612135993071541e-07],"object_linear_velocity_m_s":[1.1600965643118909e-17,-1.3818159652957572e-17,1.0993450635800423e-14],"object_angular_velocity_rad_s":[4.045688855783051e-16,-6.986615496149349e-16,-1.9489408443953434e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221253882,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835368,1.261619068687721,-1.3096608189181114,-1.5707950771321897,-0.4120003887625108,0.0],"actuator_force":[7.553353498224169e-10,-21.68537522527504,-20.285950863692506,-2.413348536990611,0.0006248316929031716,8.526512829121202e-14,-0.2933611120505904],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708949,1.2717620441197355,-1.3048341218437371,-1.5707963267948966,-0.4120003887625114],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.47999999999838,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708949,1.2717620441197355,-1.3048341218437371,-1.5707963267948966,-0.4120003887625114],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.499999999998405,"qpos":[-1.982796715557404,-1.5377242490709073,1.271762044119743,-1.3048341218437447,-1.5707963267948983,-0.41200038876251394,0.0029336111737101826,0.00015630157364219597,0.0031934794565169214,-0.0034292989432903593,0.002933611072679375,0.0001563011008459803,0.0031978493937855563,-0.0034379968893921017,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,-6.0559090464333194e-18,-3.3487544744071995e-18,-2.614690260600324e-07],"qvel":[1.370723822675097e-12,8.640223465672487e-14,4.89902551757511e-13,1.5177939715596732e-12,2.7284601810690564e-12,1.3373802738551782e-14,1.043745956436489e-09,4.631574677849325e-09,-4.693608378882768e-09,-1.6739923179122094e-10,-9.88545716175718e-10,-2.994534977555599e-09,2.8741488359846542e-09,2.366353732152944e-10,-1.3959053600556006e-17,1.2386588845747122e-17,1.0969858396527139e-14,9.78439545573516e-16,2.514174357031847e-15,-7.834130646786439e-08],"joint_position_rad":[-1.982796715557404,-1.5377242490709073,1.271762044119743,-1.3048341218437447,-1.5707963267948983,-0.41200038876251394],"joint_velocity_rad_s":[1.370723822675097e-12,8.640223465672487e-14,4.89902551757511e-13,1.5177939715596732e-12,2.7284601810690564e-12,1.3373802738551782e-14],"linkage_position_rad":[0.0029336111737101826,0.00015630157364219597,0.0031934794565169214,-0.0034292989432903593,0.002933611072679375,0.0001563011008459803,0.0031978493937855563,-0.0034379968893921017],"tcp_position_m":[0.07433918934877999,0.5047373576544978,0.4350000000000034],"tcp_quaternion_wxyz":[-1.41902116644602e-15,0.707106781186545,0.7071067811865497,6.155596592198447e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,-6.0559090464333194e-18,-3.3487544744071995e-18,-2.614690260600324e-07],"object_linear_velocity_m_s":[-1.3959053600556006e-17,1.2386588845747122e-17,1.0969858396527139e-14],"object_angular_velocity_rad_s":[9.784408608555161e-16,2.514173844419382e-15,-7.834130646786454e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221319453,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835366,1.26161906868772,-1.3096608189181111,-1.57079507713219,-0.4120003887625114,0.0],"actuator_force":[-5.557012627832592e-10,-21.685375225293228,-20.28595086424184,-2.4133485373349686,0.0006248310813816715,-5.684341886080802e-14,-0.29336111259547915],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.412000388762511],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.499999999998405,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.51999999999843,"qpos":[-1.9827967155574069,-1.537724249070907,1.271762044119741,-1.3048341218437478,-1.5707963267949059,-0.41200038876251394,0.0029336111713347077,0.00015630156211991894,0.003193479467739811,-0.003429298942584465,0.002933611074890772,0.0001563011083139863,0.0031978493869348405,-0.003437996890136664,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,-5.303456830510923e-19,4.504640054684942e-18,-2.617660725262526e-07],"qvel":[1.7114512408490577e-12,6.042369576708455e-14,5.697536698824443e-13,2.7827324124286185e-12,6.04751757463643e-12,1.9771717930074515e-14,7.282315759341044e-10,4.000940082734097e-09,-3.843615313154727e-09,-3.233214031353281e-10,-5.827322528833509e-10,-2.5924991484440977e-09,2.46514793505986e-09,2.213745539141067e-10,-4.312600726801678e-18,-2.31121558560395e-19,1.0849121642599153e-14,-5.830382236385985e-18,-1.7476486901332347e-17,-8.47789493466837e-09],"joint_position_rad":[-1.9827967155574069,-1.537724249070907,1.271762044119741,-1.3048341218437478,-1.5707963267949059,-0.41200038876251394],"joint_velocity_rad_s":[1.7114512408490577e-12,6.042369576708455e-14,5.697536698824443e-13,2.7827324124286185e-12,6.04751757463643e-12,1.9771717930074515e-14],"linkage_position_rad":[0.0029336111713347077,0.00015630156211991894,0.003193479467739811,-0.003429298942584465,0.002933611074890772,0.0001563011083139863,0.0031978493869348405,-0.003437996890136664],"tcp_position_m":[0.07433918934878368,0.5047373576544981,0.4350000000000046],"tcp_quaternion_wxyz":[1.158049713758496e-15,0.7071067811865461,0.7071067811865486,9.837311345254861e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,-5.303456830510923e-19,4.504640054684942e-18,-2.617660725262526e-07],"object_linear_velocity_m_s":[-4.312600726801678e-18,-2.31121558560395e-19,1.0849121642599153e-14],"object_angular_velocity_rad_s":[-5.830391462267605e-18,-1.7476483857929876e-17,-8.477894934668386e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221284932,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.2616190686877207,-1.3096608189181111,-1.5707950771321897,-0.412000388762511,0.0],"actuator_force":[-6.857590051367879e-10,-21.685375225284133,-20.285950864268216,-2.4133485374599104,0.0006248307533951447,-5.115907697472721e-13,-0.2933611130387706],"issued_joint_targets_rad":[-1.9827967155574078,-1.537724249070896,1.271762044119737,-1.3048341218437376,-1.5707963267948966,-0.41200038876251116],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.51999999999843,"joint_targets_rad":[-1.9827967155574078,-1.537724249070896,1.271762044119737,-1.3048341218437376,-1.5707963267948966,-0.41200038876251116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.539999999998454,"qpos":[-1.98279671555741,-1.5377242490709069,1.2717620441197393,-1.3048341218437531,-1.5707963267949194,-0.41200038876251394,0.002933611169037935,0.00015630155115140814,0.0031934794788910656,-0.0034292989425862203,0.0029336110768537994,0.00015630111525932023,0.003197849380112607,-0.003437996890365746,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999667,1.5842047644889457e-17,-1.8610253996249423e-18,-2.62136227402457e-07],"qvel":[2.724313567122961e-13,2.5057692062435493e-14,-1.0617994172264845e-13,1.898337644728081e-12,5.277049877266823e-12,2.097774306169917e-14,-5.7447424642845997e-11,2.726445845417927e-10,-7.549179193350469e-11,-1.0972866847232822e-10,2.1850781191706574e-10,-1.9609950661409469e-10,2.3052173541093407e-10,-1.8710089080193117e-11,4.822016964841753e-18,2.7830279740450205e-17,1.0781120482340862e-14,1.3324551957283226e-15,-6.08566524532768e-16,-3.407847740424666e-08],"joint_position_rad":[-1.98279671555741,-1.5377242490709069,1.2717620441197393,-1.3048341218437531,-1.5707963267949194,-0.41200038876251394],"joint_velocity_rad_s":[2.724313567122961e-13,2.5057692062435493e-14,-1.0617994172264845e-13,1.898337644728081e-12,5.277049877266823e-12,2.097774306169917e-14],"linkage_position_rad":[0.002933611169037935,0.00015630155115140814,0.0031934794788910656,-0.0034292989425862203,0.0029336110768537994,0.00015630111525932023,0.003197849380112607,-0.003437996890365746],"tcp_position_m":[0.07433918934878901,0.504737357654498,0.43500000000000577],"tcp_quaternion_wxyz":[6.122313579514696e-15,0.7071067811865472,0.7071067811865477,1.548117828966369e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999667,1.5842047644889457e-17,-1.8610253996249423e-18,-2.62136227402457e-07],"object_linear_velocity_m_s":[4.822016964841753e-18,2.7830279740450205e-17,1.0781120482340862e-14],"object_angular_velocity_rad_s":[1.3324548768003187e-15,-6.085672220224963e-16,-3.4078477404246725e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221251432,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.2616190686877216,-1.3096608189181114,-1.5707950771321895,-0.41200038876251116,0.0],"actuator_force":[-1.0504663805477321e-10,-21.6853752252714,-20.285950863993094,-2.413348537368961,0.000624830837296031,-7.105427357601002e-13,-0.29336111309988866],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437378,-1.5707963267948966,-0.41200038876251144],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.539999999998454,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437378,-1.5707963267948966,-0.41200038876251144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.559999999998478,"qpos":[-1.9827967155574098,-1.5377242490709069,1.2717620441197393,-1.3048341218437542,-1.5707963267949256,-0.41200038876251394,0.0029336111714569155,0.00015630156097128214,0.003193479468506022,-0.003429298942150556,0.0029336110742301928,0.00015630110912979452,0.0031978493857105304,-0.0034379968899935533,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,1.628186748642389e-17,-3.0547132344626454e-18,-2.622654426497318e-07],"qvel":[-5.981606914063524e-12,3.5989711632487445e-14,-1.8099046345785724e-12,-1.1570371906304404e-11,-2.707199965341598e-11,-1.2727369646630016e-14,-2.1500233038541275e-09,-1.2345889551407744e-08,1.1579247547302138e-08,1.2177615312881276e-09,1.4448824562293913e-09,8.080198528739e-09,-7.839100490101448e-09,-6.259972881477562e-10,3.0498456594638057e-18,1.8193370133595e-17,1.1552725484455346e-14,-4.716719110526985e-16,7.034186920433875e-17,-3.687885280356022e-09],"joint_position_rad":[-1.9827967155574098,-1.5377242490709069,1.2717620441197393,-1.3048341218437542,-1.5707963267949256,-0.41200038876251394],"joint_velocity_rad_s":[-5.981606914063524e-12,3.5989711632487445e-14,-1.8099046345785724e-12,-1.1570371906304404e-11,-2.707199965341598e-11,-1.2727369646630016e-14],"linkage_position_rad":[0.0029336111714569155,0.00015630156097128214,0.003193479468506022,-0.003429298942150556,0.0029336110742301928,0.00015630110912979452,0.0031978493857105304,-0.0034379968899935533],"tcp_position_m":[0.07433918934879062,0.5047373576544976,0.4350000000000059],"tcp_quaternion_wxyz":[8.819498591433557e-15,0.7071067811865472,0.7071067811865477,1.7184741731193167e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,1.628186748642389e-17,-3.0547132344626454e-18,-2.622654426497318e-07],"object_linear_velocity_m_s":[3.0498456594638057e-18,1.8193370133595e-17,1.1552725484455346e-14],"object_angular_velocity_rad_s":[-4.716718741336197e-16,7.034211673090546e-17,-3.687885280356022e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221286536,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877207,-1.3096608189181118,-1.5707950771321901,-0.41200038876251144,0.0],"actuator_force":[2.396518539171666e-09,-21.685375225275493,-20.285950863313246,-2.413348536021772,0.0006248340749834824,2.5295321393059567e-12,-0.2933611087586512],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197361,-1.3048341218437371,-1.5707963267948966,-0.41200038876251077],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.559999999998478,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197361,-1.3048341218437371,-1.5707963267948966,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.579999999998503,"qpos":[-1.9827967155574049,-1.5377242490709069,1.2717620441197401,-1.3048341218437436,-1.5707963267949008,-0.41200038876251394,0.002933611172147153,0.00015630156637632867,0.0031934794636589007,-0.0034292989429744337,0.002933611074182535,0.00015630110555124891,0.0031978493895090843,-0.003437996889842349,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,1.7814007907841368e-17,-6.380646875488774e-18,-2.627252118909023e-07],"qvel":[1.7286649340095352e-12,7.627536218418836e-14,6.258389438557483e-13,2.2843662481771094e-12,4.569020274332595e-12,1.8145231481052518e-14,9.349376319832878e-10,4.674952185648819e-09,-4.5827884000414334e-09,-3.1731886661773404e-10,-8.323035899053955e-10,-3.0236724386518857e-09,2.8561935190403077e-09,2.7537925561243e-10,6.634405780656429e-18,2.2721598279471884e-17,1.157770550250941e-14,-4.540399594883318e-16,-1.7007429218106177e-16,-1.4824141625303537e-08],"joint_position_rad":[-1.9827967155574049,-1.5377242490709069,1.2717620441197401,-1.3048341218437436,-1.5707963267949008,-0.41200038876251394],"joint_velocity_rad_s":[1.7286649340095352e-12,7.627536218418836e-14,6.258389438557483e-13,2.2843662481771094e-12,4.569020274332595e-12,1.8145231481052518e-14],"linkage_position_rad":[0.002933611172147153,0.00015630156637632867,0.0031934794636589007,-0.0034292989429744337,0.002933611074182535,0.00015630110555124891,0.0031978493895090843,-0.003437996889842349],"tcp_position_m":[0.07433918934878102,0.5047373576544978,0.4350000000000043],"tcp_quaternion_wxyz":[-4.442416627696905e-16,0.7071067811865454,0.7071067811865496,7.084389152468914e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,1.7814007907841368e-17,-6.380646875488774e-18,-2.627252118909023e-07],"object_linear_velocity_m_s":[6.634405780656429e-18,2.2721598279471884e-17,1.157770550250941e-14],"object_angular_velocity_rad_s":[-4.540400486647027e-16,-1.700740530773945e-16,-1.482414162530354e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322129721,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835373,1.2616190686877207,-1.309660818918111,-1.57079507713219,-0.41200038876251077,0.0],"actuator_force":[-6.96672941558063e-10,-21.68537522529141,-20.28595086428868,-2.4133485374120482,0.0006248308985732365,-2.5579538487363607e-13,-0.2933611128296546],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948966,-0.4120003887625107],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.579999999998503,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948966,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.599999999998527,"qpos":[-1.9827967155574093,-1.5377242490709069,1.2717620441197375,-1.3048341218437498,-1.5707963267949145,-0.41200038876251394,0.0029336111716468044,0.0001563015609116054,0.003193479468047224,-0.003429298941244535,0.002933611074362184,0.0001563011092556607,0.0031978493862581765,-0.0034379968906310893,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,1.7237219206135944e-17,6.332748174786557e-19,-2.6301527344590915e-07],"qvel":[1.3010602071447271e-12,2.025868687930767e-14,3.526549014308929e-13,3.0175985160647594e-12,7.291440066592989e-12,2.3846850122771685e-14,2.943032561049714e-10,1.987640707564927e-09,-1.8501758516615947e-09,-1.6442228698447376e-10,-1.0772368891134945e-10,-1.3045068678397155e-09,1.343817577637486e-09,2.411395024079507e-11,-4.582615616975967e-18,3.160290659719683e-17,1.1536072139085964e-14,6.087853630637132e-16,1.193595185652999e-15,-5.9588397745916194e-08],"joint_position_rad":[-1.9827967155574093,-1.5377242490709069,1.2717620441197375,-1.3048341218437498,-1.5707963267949145,-0.41200038876251394],"joint_velocity_rad_s":[1.3010602071447271e-12,2.025868687930767e-14,3.526549014308929e-13,3.0175985160647594e-12,7.291440066592989e-12,2.3846850122771685e-14],"linkage_position_rad":[0.0029336111716468044,0.0001563015609116054,0.003193479468047224,-0.003429298941244535,0.002933611074362184,0.0001563011092556607,0.0031978493862581765,-0.0034379968906310893],"tcp_position_m":[0.07433918934878728,0.5047373576544978,0.43500000000000616],"tcp_quaternion_wxyz":[4.1933669919086185e-15,0.7071067811865469,0.7071067811865478,1.36307363249918e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,1.7237219206135944e-17,6.332748174786557e-19,-2.6301527344590915e-07],"object_linear_velocity_m_s":[-4.582615616975967e-18,3.160290659719683e-17,1.1536072139085964e-14],"object_angular_velocity_rad_s":[6.087859908556864e-16,1.1935948674674134e-15,-5.958839774591622e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221284889,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835373,1.2616190686877211,-1.3096608189181116,-1.57079507713219,-0.4120003887625107,0.0],"actuator_force":[-5.175024853087962e-10,-21.685375225269127,-20.28595086417363,-2.4133485374826478,0.0006248306332281572,-7.958078640513122e-13,-0.29336111323334724],"issued_joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625105],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.599999999998527,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.61999999999855,"qpos":[-1.9827967155574122,-1.5377242490709069,1.271762044119737,-1.304834121843755,-1.570796326794928,-0.41200038876251394,0.0029336111708775235,0.00015630155626030281,0.003193479472311721,-0.003429298941051945,0.0029336110747386845,0.0001563011122226909,0.003197849383373594,-0.003437996890680335,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,1.441859869857711e-17,3.3793991751840788e-18,-2.632412145716857e-07],"qvel":[-2.1617644192626623e-12,1.1020848813830644e-14,-9.7635111639704e-13,-1.96306613254733e-12,-3.1446577109658182e-12,1.736638903386152e-14,-9.958765016625236e-10,-5.303288841354553e-09,5.1923482556021324e-09,4.0336147329819526e-10,9.524821162734305e-10,3.4125726120663205e-09,-3.1370346102228246e-09,-3.521097577484749e-10,-3.0129838545024875e-18,1.653334481489193e-17,1.1488887660539388e-14,-5.74984534871315e-16,1.322110913504253e-16,-6.448503327198371e-09],"joint_position_rad":[-1.9827967155574122,-1.5377242490709069,1.271762044119737,-1.304834121843755,-1.570796326794928,-0.41200038876251394],"joint_velocity_rad_s":[-2.1617644192626623e-12,1.1020848813830644e-14,-9.7635111639704e-13,-1.96306613254733e-12,-3.1446577109658182e-12,1.736638903386152e-14],"linkage_position_rad":[0.0029336111708775235,0.00015630155626030281,0.003193479472311721,-0.003429298941051945,0.0029336110747386845,0.0001563011122226909,0.003197849383373594,-0.003437996890680335],"tcp_position_m":[0.07433918934879262,0.5047373576544976,0.435000000000007],"tcp_quaternion_wxyz":[9.56209292710984e-15,0.7071067811865481,0.7071067811865468,1.892095763725884e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,1.441859869857711e-17,3.3793991751840788e-18,-2.632412145716857e-07],"object_linear_velocity_m_s":[-3.0129838545024875e-18,1.653334481489193e-17,1.1488887660539388e-14],"object_angular_velocity_rad_s":[-5.749844653080032e-16,1.3221139425561845e-16,-6.4485033271983736e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221273444,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835368,1.2616190686877207,-1.3096608189181114,-1.57079507713219,-0.4120003887625105,0.0],"actuator_force":[8.735696610528976e-10,-21.68537522526458,-20.28595086364203,-2.4133485369818573,0.000624831683580851,-2.842170943040401e-14,-0.29336111206383847],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.271762044119737,-1.304834121843738,-1.5707963267948968,-0.41200038876251155],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.61999999999855,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.271762044119737,-1.304834121843738,-1.5707963267948968,-0.41200038876251155],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.639999999998576,"qpos":[-1.9827967155574036,-1.5377242490709067,1.2717620441197395,-1.3048341218437405,-1.5707963267948972,-0.41200038876251394,0.002933611173169568,0.0001563015710694693,0.003193479458937321,-0.0034292989432635787,0.002933611073225013,0.00015630110247411415,0.00319784939246768,-0.0034379968895636146,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,2.907002402786095e-17,-1.1966653489990098e-17,-2.6366700834670025e-07],"qvel":[1.5256192496166457e-12,8.809974866780435e-14,5.831924949344834e-13,1.661975856371414e-12,3.018751080771422e-12,1.249198991289555e-14,1.0563369463264857e-09,4.883787730775193e-09,-4.8537703509208385e-09,-2.735427173661448e-10,-9.928261569536895e-10,-3.1537328225450012e-09,2.9695687375037206e-09,2.9568903423730497e-10,2.003507448709588e-17,3.674525220205734e-17,1.1412559827596409e-14,2.307821159522979e-16,-7.83394550362068e-16,-2.5920959934105315e-08],"joint_position_rad":[-1.9827967155574036,-1.5377242490709067,1.2717620441197395,-1.3048341218437405,-1.5707963267948972,-0.41200038876251394],"joint_velocity_rad_s":[1.5256192496166457e-12,8.809974866780435e-14,5.831924949344834e-13,1.661975856371414e-12,3.018751080771422e-12,1.249198991289555e-14],"linkage_position_rad":[0.002933611173169568,0.0001563015710694693,0.003193479458937321,-0.0034292989432635787,0.002933611073225013,0.00015630110247411415,0.00319784939246768,-0.0034379968895636146],"tcp_position_m":[0.07433918934877926,0.5047373576544978,0.43500000000000427],"tcp_quaternion_wxyz":[-1.7749566008776734e-15,0.7071067811865448,0.7071067811865499,5.2310803815766795e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,2.907002402786095e-17,-1.1966653489990098e-17,-2.6366700834670025e-07],"object_linear_velocity_m_s":[2.003507448709588e-17,3.674525220205734e-17,1.1412559827596409e-14],"object_angular_velocity_rad_s":[2.3078170346204577e-16,-7.833946705541741e-16,-2.592095993410533e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221311218,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877216,-1.309660818918112,-1.5707950771321901,-0.41200038876251155,0.0],"actuator_force":[-6.184563972055912e-10,-21.685375225296866,-20.285950864269125,-2.4133485373520216,0.0006248310517094069,-5.684341886080802e-14,-0.293361112637283],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437378,-1.5707963267948968,-0.41200038876251016],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.639999999998576,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437378,-1.5707963267948968,-0.41200038876251016],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.6599999999986,"qpos":[-1.9827967155574076,-1.5377242490709067,1.2717620441197373,-1.3048341218437456,-1.5707963267949077,-0.41200038876251394,0.0029336111721540007,0.00015630156402224898,0.0031934794651089244,-0.0034292989415654618,0.002933611074013683,0.00015630110719053539,0.0031978493882523387,-0.0034379968904869897,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,2.2344381898154143e-17,-1.1684646697115674e-17,-2.6381598727545166e-07],"qvel":[1.7913679574126267e-12,4.216669645030089e-14,6.12995303989828e-13,2.996198752055883e-12,6.622526457354987e-12,2.443297541578747e-14,6.12643897881771e-10,3.4950352609109855e-09,-3.366138264152328e-09,-2.641532314594715e-10,-4.5620470231507317e-10,-2.2726405168116414e-09,2.211876701918243e-09,1.4582757125501588e-10,4.6190782830321766e-17,5.799950733770083e-17,1.1352885340022806e-14,4.3597940918471284e-16,-2.4279786650880703e-15,-1.0419412533626401e-07],"joint_position_rad":[-1.9827967155574076,-1.5377242490709067,1.2717620441197373,-1.3048341218437456,-1.5707963267949077,-0.41200038876251394],"joint_velocity_rad_s":[1.7913679574126267e-12,4.216669645030089e-14,6.12995303989828e-13,2.996198752055883e-12,6.622526457354987e-12,2.443297541578747e-14],"linkage_position_rad":[0.0029336111721540007,0.00015630156402224898,0.0031934794651089244,-0.0034292989415654618,0.002933611074013683,0.00015630110719053539,0.0031978493882523387,-0.0034379968904869897],"tcp_position_m":[0.07433918934878439,0.5047373576544978,0.4350000000000059],"tcp_quaternion_wxyz":[1.8405294339419877e-15,0.7071067811865461,0.7071067811865483,1.0487273385910024e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,2.2344381898154143e-17,-1.1684646697115674e-17,-2.6381598727545166e-07],"object_linear_velocity_m_s":[4.6190782830321766e-17,5.799950733770083e-17,1.1352885340022806e-14],"object_angular_velocity_rad_s":[4.359781305404196e-16,-2.4279788904681048e-15,-1.0419412533626408e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221292988,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877211,-1.3096608189181118,-1.5707950771321901,-0.41200038876251016,0.0],"actuator_force":[-7.166818249970675e-10,-21.685375225278676,-20.28595086427731,-2.4133485374826478,0.0006248306965517259,-5.684341886080801e-13,-0.29336111309058016],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708949,1.2717620441197355,-1.304834121843737,-1.5707963267948966,-0.4120003887625109],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.6599999999986,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708949,1.2717620441197355,-1.304834121843737,-1.5707963267948966,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.679999999998625,"qpos":[-1.9827967155574118,-1.5377242490709067,1.2717620441197361,-1.3048341218437518,-1.5707963267949228,-0.41200038876251394,0.002933611170525542,0.000156301555074178,0.003193479473700758,-0.0034292989411261127,0.0029336110752623966,0.00015630111294944767,0.0031978493827751657,-0.0034379968907987933,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,1.7179375780600596e-17,-1.589088502505605e-17,-2.6421105978735507e-07],"qvel":[1.7768487629596757e-13,5.257062096202467e-15,-1.5471654666674395e-13,2.0284126086697557e-12,5.801395831999676e-12,2.3329445570899248e-14,-2.320495117798747e-10,-7.433017576740295e-10,8.832274901306079e-10,-1.6616239210655e-11,4.054519850343488e-10,4.510658842080442e-10,-2.9718779879395883e-10,-1.2603401699715645e-10,1.888467406554389e-17,2.36985009410484e-17,1.130153752513389e-14,-7.740125551638779e-16,3.662929307842679e-16,-1.1275620579200811e-08],"joint_position_rad":[-1.9827967155574118,-1.5377242490709067,1.2717620441197361,-1.3048341218437518,-1.5707963267949228,-0.41200038876251394],"joint_velocity_rad_s":[1.7768487629596757e-13,5.257062096202467e-15,-1.5471654666674395e-13,2.0284126086697557e-12,5.801395831999676e-12,2.3329445570899248e-14],"linkage_position_rad":[0.002933611170525542,0.000156301555074178,0.003193479473700758,-0.0034292989411261127,0.0029336110752623966,0.00015630111294944767,0.0031978493827751657,-0.0034379968907987933],"tcp_position_m":[0.07433918934879075,0.5047373576544976,0.43500000000000694],"tcp_quaternion_wxyz":[7.579068591382682e-15,0.7071067811865478,0.7071067811865469,1.6715888696606644e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,1.7179375780600596e-17,-1.589088502505605e-17,-2.6421105978735507e-07],"object_linear_velocity_m_s":[1.888467406554389e-17,2.36985009410484e-17,1.130153752513389e-14],"object_angular_velocity_rad_s":[-7.740123612481245e-16,3.6629334017698826e-16,-1.127562057920082e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221267852,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835366,1.26161906868772,-1.3096608189181107,-1.5707950771321897,-0.4120003887625109,0.0],"actuator_force":[-6.230038707144558e-11,-21.685375225262305,-20.285950863970356,-2.4133485373822623,0.0006248307864780145,-8.242295734817162e-13,-0.2933611131564093],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197353,-1.304834121843737,-1.5707963267948963,-0.41200038876251166],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.679999999998625,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197353,-1.304834121843737,-1.5707963267948963,-0.41200038876251166],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.69999999999865,"qpos":[-1.98279671555741,-1.5377242490709064,1.2717620441197368,-1.3048341218437516,-1.5707963267949268,-0.41200038876251394,0.002933611170677243,0.00015630155718436765,0.00319347947212364,-0.003429298942114095,0.0029336110749505675,0.00015630111148193468,0.0031978493836837493,-0.0034379968901673942,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,1.0089768240974376e-17,-6.81333064482881e-18,-2.645763502467381e-07],"qvel":[-6.41621557174147e-12,3.634115574149368e-14,-1.9511312194677376e-12,-1.2485805756730642e-11,-2.916787735276234e-11,-1.592906272459925e-14,-2.387150275492593e-09,-1.3541853800512977e-08,1.2762048935448535e-08,1.2271515809472753e-09,1.6157730735594042e-09,8.793409257328576e-09,-8.550951052489858e-09,-6.285471915279674e-10,8.806965134825617e-18,2.2116560058208492e-17,1.1190515222671371e-14,-6.610986021169172e-16,8.508528628432756e-16,-4.5324456611959145e-08],"joint_position_rad":[-1.98279671555741,-1.5377242490709064,1.2717620441197368,-1.3048341218437516,-1.5707963267949268,-0.41200038876251394],"joint_velocity_rad_s":[-6.41621557174147e-12,3.634115574149368e-14,-1.9511312194677376e-12,-1.2485805756730642e-11,-2.916787735276234e-11,-1.592906272459925e-14],"linkage_position_rad":[0.002933611170677243,0.00015630155718436765,0.00319347947212364,-0.003429298942114095,0.0029336110749505675,0.00015630111148193468,0.0031978493836837493,-0.0034379968901673942],"tcp_position_m":[0.07433918934879072,0.5047373576544972,0.4350000000000065],"tcp_quaternion_wxyz":[9.63563327617732e-15,0.707106781186547,0.7071067811865477,1.7099228732359268e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,1.0089768240974376e-17,-6.81333064482881e-18,-2.645763502467381e-07],"object_linear_velocity_m_s":[8.806965134825617e-18,2.2116560058208492e-17,1.1190515222671371e-14],"object_angular_velocity_rad_s":[-6.61098151268114e-16,8.508532135798943e-16,-4.53244566119592e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221274405,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.2616190686877198,-1.309660818918111,-1.57079507713219,-0.41200038876251166,0.0],"actuator_force":[2.571141521912068e-09,-21.685375225275493,-20.285950863253674,-2.41334853593105,0.0006248342851904454,2.7284841053187847e-12,-0.2933611084245045],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708949,1.2717620441197355,-1.3048341218437374,-1.5707963267948966,-0.4120003887625113],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.69999999999865,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708949,1.2717620441197355,-1.3048341218437374,-1.5707963267948966,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.719999999998674,"qpos":[-1.9827967155574058,-1.5377242490709064,1.271762044119737,-1.304834121843742,-1.570796326794903,-0.41200038876251394,0.0029336111728655453,0.00015630156789062476,0.0031934794614160854,-0.0034292989419202127,0.002933611073416431,0.00015630110465689618,0.003197849390650993,-0.00343799689025386,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,6.2135288299593785e-18,-3.335962748002641e-18,-2.6474820683526034e-07],"qvel":[1.8482454600584412e-12,6.740916727721676e-14,6.79115994550837e-13,2.4965653656995494e-12,5.079030487020338e-12,1.6148012000052817e-14,8.281225379621685e-10,4.2859199651648804e-09,-4.203146406663377e-09,-2.8840650792184355e-10,-7.161647582426739e-10,-2.779369748082051e-09,2.65771103149054e-09,2.2016698634085676e-10,5.111808099481133e-18,8.825331040607466e-18,1.1098921823139794e-14,-1.5438528873738396e-16,3.906568127154238e-16,-4.904896260375013e-09],"joint_position_rad":[-1.9827967155574058,-1.5377242490709064,1.271762044119737,-1.304834121843742,-1.570796326794903,-0.41200038876251394],"joint_velocity_rad_s":[1.8482454600584412e-12,6.740916727721676e-14,6.79115994550837e-13,2.4965653656995494e-12,5.079030487020338e-12,1.6148012000052817e-14],"linkage_position_rad":[0.0029336111728655453,0.00015630156789062476,0.0031934794614160854,-0.0034292989419202127,0.002933611073416431,0.00015630110465689618,0.003197849390650993,-0.00343799689025386],"tcp_position_m":[0.07433918934878202,0.5047373576544976,0.43500000000000527],"tcp_quaternion_wxyz":[2.719968054088063e-16,0.7071067811865454,0.7071067811865491,8.082128432855838e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,6.2135288299593785e-18,-3.335962748002641e-18,-2.6474820683526034e-07],"object_linear_velocity_m_s":[5.111808099481133e-18,8.825331040607466e-18,1.1098921823139794e-14],"object_angular_velocity_rad_s":[-1.5438508185325606e-16,3.9065689452277967e-16,-4.9048962603750195e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221303674,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835366,1.26161906868772,-1.3096608189181114,-1.57079507713219,-0.4120003887625113,0.0],"actuator_force":[-7.426024239975959e-10,-21.685375225287316,-20.285950864305505,-2.413348537434331,0.0006248308486647147,-3.126388037344441e-13,-0.29336111287388766],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948963,-0.4120003887625109],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.719999999998674,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948963,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.739999999998698,"qpos":[-1.9827967155574102,-1.5377242490709064,1.271762044119736,-1.3048341218437478,-1.5707963267949152,-0.41200038876251394,0.002933611170672742,0.00015630155664997334,0.003193479472418354,-0.0034292989414395846,0.0029336110753208993,0.00015630111186771037,0.003197849383860649,-0.003437996890731257,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,1.3602594599346629e-17,-1.2260358823750174e-17,-2.651684094124917e-07],"qvel":[1.445500153952497e-12,2.00184416715933e-14,4.077328377748125e-13,3.289844900940121e-12,7.944262126683595e-12,2.3633256576472662e-14,2.797399513356576e-10,2.084910880863675e-09,-1.873557008620506e-09,-2.4527521924020825e-10,-7.247755197885428e-11,-1.3686356676606624e-09,1.379997782631317e-09,5.571505963531288e-11,1.6774879078698084e-17,1.3850251301923922e-17,1.1023981768977591e-14,1.3422420937705611e-16,-1.1632278073447792e-16,-1.9716143885647037e-08],"joint_position_rad":[-1.9827967155574102,-1.5377242490709064,1.271762044119736,-1.3048341218437478,-1.5707963267949152,-0.41200038876251394],"joint_velocity_rad_s":[1.445500153952497e-12,2.00184416715933e-14,4.077328377748125e-13,3.289844900940121e-12,7.944262126683595e-12,2.3633256576472662e-14],"linkage_position_rad":[0.002933611170672742,0.00015630155664997334,0.003193479472418354,-0.0034292989414395846,0.0029336110753208993,0.00015630111186771037,0.003197849383860649,-0.003437996890731257],"tcp_position_m":[0.07433918934878775,0.5047373576544976,0.43500000000000644],"tcp_quaternion_wxyz":[4.8045624753606866e-15,0.7071067811865469,0.7071067811865476,1.3451306427328723e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,1.3602594599346629e-17,-1.2260358823750174e-17,-2.651684094124917e-07],"object_linear_velocity_m_s":[1.6774879078698084e-17,1.3850251301923922e-17,1.1023981768977591e-14],"object_angular_velocity_rad_s":[1.342241481702381e-16,-1.1632285138212066e-16,-1.9716143885647067e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221270277,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.2616190686877207,-1.3096608189181111,-1.5707950771321895,-0.4120003887625109,0.0],"actuator_force":[-5.729816621169448e-10,-21.68537522526958,-20.285950864193637,-2.4133485375106147,0.0006248305684266597,-8.526512829121202e-13,-0.2933611133359941],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197361,-1.304834121843738,-1.5707963267948966,-0.4120003887625117],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.739999999998698,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197361,-1.304834121843738,-1.5707963267948966,-0.4120003887625117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.759999999998723,"qpos":[-1.9827967155574122,-1.5377242490709062,1.271762044119735,-1.3048341218437534,-1.5707963267949299,-0.41200038876251394,0.0029336111694538546,0.00015630155088860987,0.0031934794783852996,-0.0034292989417595192,0.002933611076124163,0.00015630111547718702,0.0031978493799566005,-0.003437996890535036,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,1.4165911655541134e-17,-2.8898686256073474e-19,-2.65426807743384e-07],"qvel":[-2.3512096237206636e-12,2.2616731226532297e-15,-1.058370103174143e-12,-2.1585812048315076e-12,-3.420502504872415e-12,1.1463861922233405e-14,-1.0932664709066932e-09,-5.8084706857425166e-09,5.7017415909331e-09,4.345482768456003e-10,1.0456213952452167e-09,3.7166375494238804e-09,-3.424649080734335e-09,-3.8099999635841674e-10,-3.802989668440315e-17,2.2158665286931914e-17,1.0957368387500083e-14,1.0001033303349365e-15,4.21289544328322e-15,-7.92527117973764e-08],"joint_position_rad":[-1.9827967155574122,-1.5377242490709062,1.271762044119735,-1.3048341218437534,-1.5707963267949299,-0.41200038876251394],"joint_velocity_rad_s":[-2.3512096237206636e-12,2.2616731226532297e-15,-1.058370103174143e-12,-2.1585812048315076e-12,-3.420502504872415e-12,1.1463861922233405e-14],"linkage_position_rad":[0.0029336111694538546,0.00015630155088860987,0.0031934794783852996,-0.0034292989417595192,0.002933611076124163,0.00015630111547718702,0.0031978493799566005,-0.003437996890535036],"tcp_position_m":[0.07433918934879301,0.5047373576544975,0.4350000000000074],"tcp_quaternion_wxyz":[1.0418100457554041e-14,0.7071067811865481,0.7071067811865466,1.898633978658789e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,1.4165911655541134e-17,-2.8898686256073474e-19,-2.65426807743384e-07],"object_linear_velocity_m_s":[-3.802989668440315e-17,2.2158665286931914e-17,1.0957368387500083e-14],"object_angular_velocity_rad_s":[1.0001055668113814e-15,4.2128949146195375e-15,-7.925271179737651e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221254364,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.2616190686877207,-1.3096608189181118,-1.5707950771321897,-0.4120003887625117,0.0],"actuator_force":[9.49512468650937e-10,-21.685375225262305,-20.285950863605194,-2.4133485369633263,0.0006248317122299341,-2.842170943040401e-14,-0.2933611120406755],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.4120003887625116],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.759999999998723,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.4120003887625116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.779999999998747,"qpos":[-1.9827967155574047,-1.5377242490709062,1.2717620441197373,-1.3048341218437398,-1.5707963267948992,-0.41200038876251394,0.0029336111737199317,0.0001563015720997375,0.0031934794573003785,-0.0034292989422599145,0.0029336110726353084,0.00015630110190913352,0.0031978493932269705,-0.0034379968899800615,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,1.4024980863934352e-17,1.436531776551497e-17,-2.6572730998210317e-07],"qvel":[1.6571094740983347e-12,8.091498275584615e-14,6.329727947537955e-13,1.854820081319176e-12,3.435093737131842e-12,1.2520161154558825e-14,9.68061975582528e-10,4.605499190200935e-09,-4.583427088807252e-09,-2.623388441820718e-10,-8.976909704626023e-10,-2.9834785040540937e-09,2.8363533803270955e-09,2.564573084321409e-10,-1.4230995618397427e-17,1.483229531190828e-17,1.0836631633572098e-14,-3.506747109402702e-16,1.1858551816808175e-16,-8.576524878115356e-09],"joint_position_rad":[-1.9827967155574047,-1.5377242490709062,1.2717620441197373,-1.3048341218437398,-1.5707963267948992,-0.41200038876251394],"joint_velocity_rad_s":[1.6571094740983347e-12,8.091498275584615e-14,6.329727947537955e-13,1.854820081319176e-12,3.435093737131842e-12,1.2520161154558825e-14],"linkage_position_rad":[0.0029336111737199317,0.0001563015720997375,0.0031934794573003785,-0.0034292989422599145,0.0029336110726353084,0.00015630110190913352,0.0031978493932269705,-0.0034379968899800615],"tcp_position_m":[0.07433918934878035,0.5047373576544976,0.4350000000000048],"tcp_quaternion_wxyz":[-9.99733660347005e-16,0.7071067811865451,0.7071067811865496,6.195830247504052e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,1.4024980863934352e-17,1.436531776551497e-17,-2.6572730998210317e-07],"object_linear_velocity_m_s":[-1.4230995618397427e-17,1.483229531190828e-17,1.0836631633572098e-14],"object_angular_velocity_rad_s":[-3.5067464816380874e-16,1.185857047763317e-16,-8.57652487811537e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221316115,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.2616190686877202,-1.3096608189181114,-1.57079507713219,-0.4120003887625116,0.0],"actuator_force":[-6.689333531539887e-10,-21.685375225293683,-20.285950864287315,-2.4133485373712347,0.0006248310111232058,-8.526512829121202e-14,-0.29336111266961706],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708949,1.2717620441197355,-1.304834121843737,-1.5707963267948966,-0.41200038876251033],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.779999999998747,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708949,1.2717620441197355,-1.304834121843737,-1.5707963267948966,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.79999999999877,"qpos":[-1.9827967155574082,-1.5377242490709062,1.2717620441197361,-1.304834121843744,-1.5707963267949077,-0.41200038876251394,0.00293361117116891,0.00015630155989870872,0.0031934794694444824,-0.0034292989418600543,0.0029336110749988934,0.00015630110973503597,0.003197849385873853,-0.0034379968905323523,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,-3.0020532577093867e-18,3.1192459288211756e-17,-2.661017711577825e-07],"qvel":[1.9747712413384807e-12,4.7900472418267204e-14,6.836667710524156e-13,3.2789028281314163e-12,7.223713362441425e-12,2.4072914808914757e-14,6.283051923372568e-10,3.740278334433014e-09,-3.5399858654109934e-09,-3.485938377126377e-10,-4.541322331347357e-10,-2.4264272326294034e-09,2.3266512546328997e-09,1.8486551491514715e-10,-4.59283575793221e-17,-2.8744206155073737e-18,1.0832468297229751e-14,-1.5144525070987839e-15,9.587776538590255e-16,-3.4474938828329496e-08],"joint_position_rad":[-1.9827967155574082,-1.5377242490709062,1.2717620441197361,-1.304834121843744,-1.5707963267949077,-0.41200038876251394],"joint_velocity_rad_s":[1.9747712413384807e-12,4.7900472418267204e-14,6.836667710524156e-13,3.2789028281314163e-12,7.223713362441425e-12,2.4072914808914757e-14],"linkage_position_rad":[0.00293361117116891,0.00015630155989870872,0.0031934794694444824,-0.0034292989418600543,0.0029336110749988934,0.00015630110973503597,0.003197849385873853,-0.0034379968905323523],"tcp_position_m":[0.07433918934878464,0.5047373576544976,0.43500000000000605],"tcp_quaternion_wxyz":[2.0285555662438486e-15,0.7071067811865461,0.7071067811865481,1.0106718742021774e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,-3.0020532577093867e-18,3.1192459288211756e-17,-2.661017711577825e-07],"object_linear_velocity_m_s":[-4.59283575793221e-17,-2.8744206155073737e-18,1.0832468297229751e-14],"object_angular_velocity_rad_s":[-1.5144519989844248e-15,9.587784596488899e-16,-3.447493882832956e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221278664,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835366,1.26161906868772,-1.3096608189181107,-1.5707950771321897,-0.41200038876251033,0.0],"actuator_force":[-7.889866537880152e-10,-21.68537522528004,-20.285950864305505,-2.413348537511183,0.0006248306366387624,-6.252776074688882e-13,-0.29336111317925495],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708944,1.2717620441197353,-1.3048341218437371,-1.5707963267948968,-0.41200038876251033],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.79999999999877,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708944,1.2717620441197353,-1.3048341218437371,-1.5707963267948968,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.819999999998796,"qpos":[-1.9827967155574122,-1.537724249070906,1.2717620441197344,-1.3048341218437507,-1.5707963267949234,-0.4120003887625138,0.00293361116905411,0.00015630154952661645,0.003193479479984281,-0.0034292989418616667,0.0029336110767114376,0.00015630111629679104,0.0031978493792871607,-0.0034379968906527395,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999656,-6.934366662425035e-18,2.5103038458816093e-17,-2.6623248966649555e-07],"qvel":[1.9926591889986157e-13,-1.2011394718804777e-15,-1.5618215775295714e-13,2.2057850742988166e-12,6.331097840625672e-12,2.636991252194817e-14,-2.5775503359318886e-10,-8.246116299560255e-10,9.889262234116578e-10,-2.4561433685066502e-11,4.4968859153330076e-10,4.967563747493563e-10,-3.345189061490314e-10,-1.368827929659975e-10,-2.839360570266361e-17,-5.314882724273159e-18,1.0819978288202717e-14,2.461487930875943e-16,-9.920920983476304e-16,-3.7307893171985584e-09],"joint_position_rad":[-1.9827967155574122,-1.537724249070906,1.2717620441197344,-1.3048341218437507,-1.5707963267949234,-0.4120003887625138],"joint_velocity_rad_s":[1.9926591889986157e-13,-1.2011394718804777e-15,-1.5618215775295714e-13,2.2057850742988166e-12,6.331097840625672e-12,2.636991252194817e-14],"linkage_position_rad":[0.00293361116905411,0.00015630154952661645,0.003193479479984281,-0.0034292989418616667,0.0029336110767114376,0.00015630111629679104,0.0031978493792871607,-0.0034379968906527395],"tcp_position_m":[0.07433918934879127,0.5047373576544976,0.43500000000000727],"tcp_quaternion_wxyz":[7.797298741241188e-15,0.7071067811865481,0.7071067811865464,1.6823096544002632e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999656,-6.934366662425035e-18,2.5103038458816093e-17,-2.6623248966649555e-07],"object_linear_velocity_m_s":[-2.839360570266361e-17,-5.314882724273159e-18,1.0819978288202717e-14],"object_angular_velocity_rad_s":[2.46148264645953e-16,-9.92092229464845e-16,-3.730789317198566e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221247763,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683536,1.2616190686877198,-1.309660818918111,-1.5707950771321897,-0.41200038876251033,0.0],"actuator_force":[-7.048583938740194e-11,-21.685375225259577,-20.28595086396672,-2.4133485374006796,0.0006248307338410086,-9.094947017729282e-13,-0.29336111324794517],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.271762044119736,-1.3048341218437371,-1.5707963267948966,-0.41200038876251144],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.819999999998796,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.271762044119736,-1.3048341218437371,-1.5707963267948966,-0.41200038876251144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.83999999999882,"qpos":[-1.982796715557411,-1.537724249070906,1.271762044119735,-1.3048341218437522,-1.570796326794929,-0.4120003887625138,0.0029336111709922837,0.00015630155668883977,0.003193479471842414,-0.00342929894103603,0.0029336110745429383,0.00015630111188339485,0.003197849383653043,-0.003437996890653217,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999645,-2.2934704873908132e-17,3.356223706861601e-17,-2.6669760776072487e-07],"qvel":[-6.754313252967627e-12,2.180770876661328e-14,-2.0584028555464506e-12,-1.3186102763173479e-11,-3.0779163879817415e-11,-1.6813246389694585e-14,-2.6244206039021287e-09,-1.5060922145852582e-08,1.4119599342676196e-08,1.3025355663740025e-09,1.801180875216303e-09,9.761669723610214e-09,-9.35665453992884e-09,-6.985308035404194e-10,-4.25280304322335e-17,-2.3961447961976594e-17,1.1552725484455321e-14,1.0969924718404549e-16,-1.0174683615775453e-15,-1.499660239079058e-08],"joint_position_rad":[-1.982796715557411,-1.537724249070906,1.271762044119735,-1.3048341218437522,-1.570796326794929,-0.4120003887625138],"joint_velocity_rad_s":[-6.754313252967627e-12,2.180770876661328e-14,-2.0584028555464506e-12,-1.3186102763173479e-11,-3.0779163879817415e-11,-1.6813246389694585e-14],"linkage_position_rad":[0.0029336111709922837,0.00015630155668883977,0.003193479471842414,-0.00342929894103603,0.0029336110745429383,0.00015630111188339485,0.003197849383653043,-0.003437996890653217],"tcp_position_m":[0.07433918934879206,0.5047373576544972,0.43500000000000716],"tcp_quaternion_wxyz":[1.0183544077946699e-14,0.7071067811865477,0.707106781186547,1.8294224933252945e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999645,-2.2934704873908132e-17,3.356223706861601e-17,-2.6669760776072487e-07],"object_linear_velocity_m_s":[-4.25280304322335e-17,-2.3961447961976594e-17,1.1552725484455321e-14],"object_angular_velocity_rad_s":[1.0969870346463465e-16,-1.0174684207783391e-15,-1.499660239079058e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221274794,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.2616190686877204,-1.3096608189181111,-1.5707950771321901,-0.41200038876251144,0.0],"actuator_force":[2.7084752218797803e-09,-21.68537522527049,-20.28595086320547,-2.4133485358607913,0.0006248344474215628,2.8705926524708048e-12,-0.29336110816056243],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708949,1.2717620441197357,-1.3048341218437376,-1.5707963267948968,-0.41200038876251127],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.83999999999882,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708949,1.2717620441197357,-1.3048341218437376,-1.5707963267948968,-0.41200038876251127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.859999999998845,"qpos":[-1.9827967155574058,-1.537724249070906,1.2717620441197366,-1.304834121843741,-1.5707963267949012,-0.4120003887625138,0.0029336111719139063,0.0001563015640722501,0.0031934794654962183,-0.003429298942300368,0.0029336110743801314,0.00015630110701321924,0.0031978493884246757,-0.003437996890249773,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999645,-2.2507697176849734e-17,2.911088887188327e-17,-2.669910438273278e-07],"qvel":[2.0298424294693784e-12,7.185583371026668e-14,7.580160810563765e-13,2.730002328522008e-12,5.5345045823889775e-12,1.6066641869082433e-14,8.641660296154885e-10,4.6087925075072846e-09,-4.459422883653031e-09,-3.6886973071263525e-10,-7.391981202317062e-10,-2.9788055220100976e-09,2.811293204942607e-09,2.6379775966082556e-10,-5.218873267444689e-17,-4.349701338872416e-17,1.1722034495710656e-14,-1.0159056815838623e-15,7.705965406932877e-16,-6.028163590764686e-08],"joint_position_rad":[-1.9827967155574058,-1.537724249070906,1.2717620441197366,-1.304834121843741,-1.5707963267949012,-0.4120003887625138],"joint_velocity_rad_s":[2.0298424294693784e-12,7.185583371026668e-14,7.580160810563765e-13,2.730002328522008e-12,5.5345045823889775e-12,1.6066641869082433e-14],"linkage_position_rad":[0.0029336111719139063,0.0001563015640722501,0.0031934794654962183,-0.003429298942300368,0.0029336110743801314,0.00015630110701321924,0.0031978493884246757,-0.003437996890249773],"tcp_position_m":[0.07433918934878155,0.5047373576544977,0.4350000000000055],"tcp_quaternion_wxyz":[-4.458870761829225e-16,0.7071067811865454,0.7071067811865489,7.331726871735781e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999645,-2.2507697176849734e-17,2.911088887188327e-17,-2.669910438273278e-07],"object_linear_velocity_m_s":[-5.218873267444689e-17,-4.349701338872416e-17,1.1722034495710656e-14],"object_angular_velocity_rad_s":[-1.0159052736086728e-15,7.705970804550141e-16,-6.028163590764687e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.093135132212903,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835366,1.2616190686877202,-1.3096608189181114,-1.57079507713219,-0.41200038876251127,0.0],"actuator_force":[-8.153620001394302e-10,-21.685375225290045,-20.285950864335973,-2.413348537458205,0.0006248308022804849,-3.410605131648481e-13,-0.2933611129395414],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708947,1.2717620441197353,-1.3048341218437371,-1.5707963267948966,-0.4120003887625101],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.859999999998845,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708947,1.2717620441197353,-1.3048341218437371,-1.5707963267948966,-0.4120003887625101],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.87999999999887,"qpos":[-1.9827967155574107,-1.5377242490709058,1.2717620441197346,-1.304834121843747,-1.5707963267949143,-0.4120003887625137,0.002933611169219438,0.00015630155128197888,0.003193479478551386,-0.0034292989422015363,0.002933611076772454,0.00015630111511728752,0.003197849380459513,-0.0034379968905787497,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999645,-1.9952064601473397e-17,2.381985388481688e-17,-2.6721961350189265e-07],"qvel":[1.5831603343029517e-12,1.7653210289608104e-14,4.530932957110603e-13,3.588691470834452e-12,8.658912632025792e-12,2.7360908188386453e-14,3.012412709599603e-10,2.268128356801228e-09,-2.026203544255374e-09,-2.729394506063104e-10,-7.221653549836928e-11,-1.4804220197391253e-09,1.4884859986409082e-09,6.098518381092064e-11,-2.9136629571397166e-17,-2.41201727172268e-17,1.1876077940377397e-14,8.274920603907326e-16,-1.0138549640506688e-15,-6.523523780198481e-09],"joint_position_rad":[-1.9827967155574107,-1.5377242490709058,1.2717620441197346,-1.304834121843747,-1.5707963267949143,-0.4120003887625137],"joint_velocity_rad_s":[1.5831603343029517e-12,1.7653210289608104e-14,4.530932957110603e-13,3.588691470834452e-12,8.658912632025792e-12,2.7360908188386453e-14],"linkage_position_rad":[0.002933611169219438,0.00015630155128197888,0.003193479478551386,-0.0034292989422015363,0.002933611076772454,0.00015630111511728752,0.003197849380459513,-0.0034379968905787497],"tcp_position_m":[0.0743391893487879,0.5047373576544977,0.4350000000000067],"tcp_quaternion_wxyz":[4.354224387835852e-15,0.7071067811865476,0.7071067811865471,1.3223012944728921e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999645,-1.9952064601473397e-17,2.381985388481688e-17,-2.6721961350189265e-07],"object_linear_velocity_m_s":[-2.9136629571397166e-17,-2.41201727172268e-17,1.1876077940377397e-14],"object_angular_velocity_rad_s":[8.274915182359726e-16,-1.013855406555057e-15,-6.523523780198485e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221250766,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835362,1.2616190686877198,-1.309660818918111,-1.5707950771321895,-0.4120003887625101,0.0],"actuator_force":[-6.275513442233205e-10,-21.685375225268217,-20.285950864210918,-2.4133485375408554,0.0006248304966902651,-9.379164112033322e-13,-0.29336111344471827],"issued_joint_targets_rad":[-1.982796715557408,-1.5377242490708953,1.2717620441197355,-1.3048341218437371,-1.5707963267948966,-0.4120003887625117],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.87999999999887,"joint_targets_rad":[-1.982796715557408,-1.5377242490708953,1.2717620441197355,-1.3048341218437371,-1.5707963267948966,-0.4120003887625117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.899999999998894,"qpos":[-1.9827967155574135,-1.5377242490709058,1.2717620441197337,-1.3048341218437545,-1.570796326794932,-0.4120003887625137,0.0029336111696102217,0.00015630154951227116,0.003193479478936464,-0.003429298940658891,0.0029336110758732426,0.00015630111645070432,0.0031978493794596265,-0.0034379968910689816,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999645,1.4008145189616748e-18,2.6988996496340896e-17,-2.6765036086695217e-07],"qvel":[-2.4296601808559057e-12,-1.4633444175787188e-14,-1.1036308998730511e-12,-2.196367909166574e-12,-3.426910269698983e-12,1.0479970225485061e-14,-1.2581773958003198e-09,-6.714086006004015e-09,6.561062929133198e-09,4.3899340484560107e-10,1.2107596519001635e-09,4.287886602641437e-09,-3.887001347267376e-09,-4.266173170369777e-10,-3.643021263593892e-17,6.017819143697353e-19,1.1777545646941914e-14,1.3548261371024161e-15,-4.364807664358731e-16,-2.622251861489576e-08],"joint_position_rad":[-1.9827967155574135,-1.5377242490709058,1.2717620441197337,-1.3048341218437545,-1.570796326794932,-0.4120003887625137],"joint_velocity_rad_s":[-2.4296601808559057e-12,-1.4633444175787188e-14,-1.1036308998730511e-12,-2.196367909166574e-12,-3.426910269698983e-12,1.0479970225485061e-14],"linkage_position_rad":[0.0029336111696102217,0.00015630154951227116,0.003193479478936464,-0.003429298940658891,0.0029336110758732426,0.00015630111645070432,0.0031978493794596265,-0.0034379968910689816],"tcp_position_m":[0.07433918934879438,0.5047373576544976,0.43500000000000794],"tcp_quaternion_wxyz":[1.1089184526863073e-14,0.7071067811865486,0.7071067811865461,2.0494036180417928e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999645,1.4008145189616748e-18,2.6988996496340896e-17,-2.6765036086695217e-07],"object_linear_velocity_m_s":[-3.643021263593892e-17,6.017819143697353e-19,1.1777545646941914e-14],"object_angular_velocity_rad_s":[1.3548259020383147e-15,-4.3648149160175364e-16,-2.6222518614895777e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221251943,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557408,-1.548566936683537,1.26161906868772,-1.309660818918111,-1.5707950771321897,-0.4120003887625117,0.0],"actuator_force":[9.82709025265649e-10,-21.68537522525685,-20.28595086358564,-2.4133485369585514,0.0006248317139352366,-5.684341886080802e-14,-0.2933611120370845],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.304834121843738,-1.5707963267948968,-0.4120003887625109],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.899999999998894,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.304834121843738,-1.5707963267948968,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.919999999998918,"qpos":[-1.9827967155574038,-1.5377242490709058,1.271762044119737,-1.3048341218437391,-1.5707963267948966,-0.4120003887625137,0.0029336111728144325,0.00015630156862881856,0.0031934794610982073,-0.00342929894270921,0.0029336110735609265,0.00015630110405874404,0.0031978493911619015,-0.003437996889931591,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999645,4.631211136125744e-18,2.0069232385775142e-17,-2.678010729834147e-07],"qvel":[1.8191889485107605e-12,8.435343849730763e-14,7.082871727457144e-13,2.033979855492753e-12,3.750303394189455e-12,1.4779427599265028e-14,1.0180720637880546e-09,4.9615136152628336e-09,-4.881663326971694e-09,-3.3558056406156197e-10,-9.389266086426278e-10,-3.2030729514683997e-09,3.0078591603082633e-09,3.0148987748553254e-10,-4.227585381115886e-17,-3.5159347373285915e-17,1.1461132084923744e-14,-2.12056133681274e-15,3.2633250069447904e-16,-1.0540629660858751e-07],"joint_position_rad":[-1.9827967155574038,-1.5377242490709058,1.271762044119737,-1.3048341218437391,-1.5707963267948966,-0.4120003887625137],"joint_velocity_rad_s":[1.8191889485107605e-12,8.435343849730763e-14,7.082871727457144e-13,2.033979855492753e-12,3.750303394189455e-12,1.4779427599265028e-14],"linkage_position_rad":[0.0029336111728144325,0.00015630156862881856,0.0031934794610982073,-0.00342929894270921,0.0029336110735609265,0.00015630110405874404,0.0031978493911619015,-0.003437996889931591],"tcp_position_m":[0.07433918934877931,0.504737357654498,0.4350000000000048],"tcp_quaternion_wxyz":[-2.1933301531228476e-15,0.7071067811865448,0.7071067811865499,5.2702653030591036e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999645,4.631211136125744e-18,2.0069232385775142e-17,-2.678010729834147e-07],"object_linear_velocity_m_s":[-4.227585381115886e-17,-3.5159347373285915e-17,1.1461132084923744e-14],"object_angular_velocity_rad_s":[-2.1205611662588963e-15,3.2633363744795387e-16,-1.0540629660858757e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221303785,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877211,-1.309660818918112,-1.5707950771321901,-0.4120003887625109,0.0],"actuator_force":[-7.353264663834125e-10,-21.685375225296866,-20.285950864315055,-2.4133485373897656,0.0006248309781540229,-8.526512829121202e-14,-0.2933611127144953],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197355,-1.304834121843737,-1.5707963267948966,-0.41200038876251077],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.919999999998918,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197355,-1.304834121843737,-1.5707963267948966,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.939999999998943,"qpos":[-1.9827967155574084,-1.5377242490709055,1.2717620441197353,-1.304834121843744,-1.5707963267949059,-0.4120003887625137,0.002933611169763358,0.00015630155485236836,0.003193479475289582,-0.0034292989426580375,0.002933611076420414,0.00015630111279645807,0.0031978493826570033,-0.003437996890358056,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999645,-1.9286279956395618e-18,1.6400428650471662e-17,-2.6820074168102314e-07],"qvel":[2.1581362568408416e-12,4.3556166397008086e-14,7.57902991830704e-13,3.580327572305842e-12,7.866593133477118e-12,2.1306305858740497e-14,6.816710108874353e-10,4.076478745177182e-09,-3.848720649866193e-09,-3.843482219941387e-10,-4.892346018816163e-10,-2.6296014282405914e-09,2.516308921839678e-09,2.0173459984864604e-10,-2.0039366778805797e-17,-4.8068416442600594e-18,1.1348722003680451e-14,-1.3988015349203636e-16,-1.0342971915294563e-15,-1.1406798640340107e-08],"joint_position_rad":[-1.9827967155574084,-1.5377242490709055,1.2717620441197353,-1.304834121843744,-1.5707963267949059,-0.4120003887625137],"joint_velocity_rad_s":[2.1581362568408416e-12,4.3556166397008086e-14,7.57902991830704e-13,3.580327572305842e-12,7.866593133477118e-12,2.1306305858740497e-14],"linkage_position_rad":[0.002933611169763358,0.00015630155485236836,0.003193479475289582,-0.0034292989426580375,0.002933611076420414,0.00015630111279645807,0.0031978493826570033,-0.003437996890358056],"tcp_position_m":[0.07433918934878453,0.5047373576544981,0.43500000000000594],"tcp_quaternion_wxyz":[1.1335554489607204e-15,0.7071067811865464,0.7071067811865481,9.780299400928756e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999645,-1.9286279956395618e-18,1.6400428650471662e-17,-2.6820074168102314e-07],"object_linear_velocity_m_s":[-2.0039366778805797e-17,-4.8068416442600594e-18,1.1348722003680451e-14],"object_angular_velocity_rad_s":[-1.3988070866471693e-16,-1.0342971165413855e-15,-1.1406798640340117e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322126003,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.26161906868772,-1.3096608189181107,-1.5707950771321895,-0.41200038876251077,0.0],"actuator_force":[-8.617462299298495e-10,-21.685375225280495,-20.2859508643337,-2.41334853754131,0.0006248305714962044,-6.821210263296962e-13,-0.2933611132713706],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.4120003887625107],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.939999999998943,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.959999999998967,"qpos":[-1.9827967155574135,-1.5377242490709055,1.2717620441197335,-1.3048341218437522,-1.5707963267949252,-0.4120003887625137,0.002933611169099911,0.00015630154767832594,0.0031934794810168144,-0.0034292989407863307,0.002933611076587748,0.0001563011175733531,0.0031978493785422605,-0.0034379968912107233,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999645,4.0119362623210095e-18,1.7733497677184867e-17,-2.6857028184833816e-07],"qvel":[2.8819503283329335e-13,-1.7824415070612322e-14,-1.3239674034624272e-13,2.443178111961963e-12,6.923631847407809e-12,2.4407466634256602e-14,-3.762918028325313e-10,-1.319405559910612e-09,1.5007471159943088e-09,-6.78100317431657e-11,5.855742302854275e-10,8.047145316417841e-10,-5.862880843775834e-10,-1.5688990793923362e-10,-2.925398120187991e-17,1.396306877063641e-17,1.1243250816341062e-14,7.958303613346321e-16,4.466696487945546e-16,-4.585175125607395e-08],"joint_position_rad":[-1.9827967155574135,-1.5377242490709055,1.2717620441197335,-1.3048341218437522,-1.5707963267949252,-0.4120003887625137],"joint_velocity_rad_s":[2.8819503283329335e-13,-1.7824415070612322e-14,-1.3239674034624272e-13,2.443178111961963e-12,6.923631847407809e-12,2.4407466634256602e-14],"linkage_position_rad":[0.002933611169099911,0.00015630154767832594,0.0031934794810168144,-0.0034292989407863307,0.002933611076587748,0.0001563011175733531,0.0031978493785422605,-0.0034379968912107233],"tcp_position_m":[0.07433918934879248,0.5047373576544979,0.4350000000000076],"tcp_quaternion_wxyz":[8.210866654232282e-15,0.7071067811865486,0.7071067811865459,1.7962254479052216e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999645,4.0119362623210095e-18,1.7733497677184867e-17,-2.6857028184833816e-07],"object_linear_velocity_m_s":[-2.925398120187991e-17,1.396306877063641e-17,1.1243250816341062e-14],"object_angular_velocity_rad_s":[7.958305996326814e-16,4.466692216896308e-16,-4.5851751256074004e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221243667,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.2616190686877202,-1.3096608189181111,-1.5707950771321895,-0.4120003887625107,0.0],"actuator_force":[-1.0322764865122736e-10,-21.685375225255484,-20.28595086397354,-2.413348537423758,0.0006248306755196609,-9.663381206337363e-13,-0.2933611133307951],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.4120003887625116],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.959999999998967,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.4120003887625116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.97999999999899,"qpos":[-1.9827967155574113,-1.5377242490709055,1.2717620441197346,-1.3048341218437534,-1.5707963267949303,-0.4120003887625137,0.0029336111698199264,0.00015630155180514096,0.0031934794770028673,-0.003429298941414349,0.0029336110756538526,0.00015630111489438176,0.003197849380724929,-0.0034379968906381696,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999645,5.683466203020495e-18,1.5170648895784976e-17,-2.687441377781754e-07],"qvel":[-7.31548336370262e-12,1.3072470231845165e-14,-2.2422074770836043e-12,-1.431936185366096e-11,-3.339520679706564e-11,-2.0592051222637377e-14,-2.885520320862444e-09,-1.6463744754907965e-08,1.547168452293798e-08,1.3694423134080184e-09,1.9814559917427046e-09,1.0606246550944173e-08,-1.0185648463771717e-08,-7.307087370093119e-10,-1.7496019381368418e-17,6.802771759226317e-18,1.1115575168509172e-14,-1.4790175660699417e-16,-6.486994845325637e-16,-4.961958732191801e-09],"joint_position_rad":[-1.9827967155574113,-1.5377242490709055,1.2717620441197346,-1.3048341218437534,-1.5707963267949303,-0.4120003887625137],"joint_velocity_rad_s":[-7.31548336370262e-12,1.3072470231845165e-14,-2.2422074770836043e-12,-1.431936185366096e-11,-3.339520679706564e-11,-2.0592051222637377e-14],"linkage_position_rad":[0.0029336111698199264,0.00015630155180514096,0.0031934794770028673,-0.003429298941414349,0.0029336110756538526,0.00015630111489438176,0.003197849380724929,-0.0034379968906381696],"tcp_position_m":[0.07433918934879279,0.5047373576544976,0.4350000000000074],"tcp_quaternion_wxyz":[1.0700957442538927e-14,0.7071067811865478,0.7071067811865469,1.9001165223241883e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999645,5.683466203020495e-18,1.5170648895784976e-17,-2.687441377781754e-07],"object_linear_velocity_m_s":[-1.7496019381368418e-17,6.802771759226317e-18,1.1115575168509172e-14],"object_angular_velocity_rad_s":[-1.4790210542589253e-16,-6.486994049806083e-16,-4.9619587321918066e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221258381,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877211,-1.3096608189181118,-1.57079507713219,-0.4120003887625116,0.0],"actuator_force":[2.93357516056858e-09,-21.685375225269127,-20.285950863129983,-2.413348535747332,0.0006248347098107843,3.097966327914037e-12,-0.29336110775336727],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948968,-0.41200038876251066],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.97999999999899,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948968,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.999999999999016,"qpos":[-1.982796715557406,-1.5377242490709055,1.271762044119736,-1.3048341218437411,-1.5707963267949003,-0.4120003887625137,0.002933611170568251,0.0001563015594028964,0.0031934794709922525,-0.0034292989431391444,0.0029336110757543976,0.00015630110986039286,0.0031978493853844522,-0.003437996890052389,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999645,1.1776046912909252e-17,-4.5851013928429986e-18,-2.6916922889870045e-07],"qvel":[2.2207725213064575e-12,6.976885989308732e-14,8.410094808560012e-13,2.986805890067366e-12,6.036271855081493e-12,1.8567101090535756e-14,9.389854980474802e-10,5.025709730088726e-09,-4.8556767547353684e-09,-4.061375773671543e-10,-8.010466470960519e-10,-3.2313912171888573e-09,3.0446379946901404e-09,2.88434381303374e-10,5.3482819994359265e-18,1.525605082021451e-17,1.1090595150455105e-14,-3.776392881738807e-17,-7.855559276566645e-16,-1.9945517117023505e-08],"joint_position_rad":[-1.982796715557406,-1.5377242490709055,1.271762044119736,-1.3048341218437411,-1.5707963267949003,-0.4120003887625137],"joint_velocity_rad_s":[2.2207725213064575e-12,6.976885989308732e-14,8.410094808560012e-13,2.986805890067366e-12,6.036271855081493e-12,1.8567101090535756e-14],"linkage_position_rad":[0.002933611170568251,0.0001563015594028964,0.0031934794709922525,-0.0034292989431391444,0.0029336110757543976,0.00015630110986039286,0.0031978493853844522,-0.003437996890052389],"tcp_position_m":[0.07433918934878168,0.5047373576544981,0.4350000000000056],"tcp_quaternion_wxyz":[-7.857560054939075e-16,0.7071067811865454,0.7071067811865489,7.292407170284015e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999645,1.1776046912909252e-17,-4.5851013928429986e-18,-2.6916922889870045e-07],"object_linear_velocity_m_s":[5.3482819994359265e-18,1.525605082021451e-17,1.1090595150455105e-14],"object_angular_velocity_rad_s":[-3.7764351529444696e-17,-7.855559068570179e-16,-1.994551711702353e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221273087,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.261619068687721,-1.3096608189181111,-1.57079507713219,-0.41200038876251066,0.0],"actuator_force":[-8.913048077374697e-10,-21.68537522529141,-20.28595086436644,-2.413348537483671,0.0006248307515761553,-3.410605131648481e-13,-0.2933611130058266],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.999999999999016,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.01999999999904,"qpos":[-1.9827967155574118,-1.5377242490709055,1.2717620441197337,-1.3048341218437487,-1.5707963267949168,-0.4120003887625137,0.002933611169174906,0.0001563015491788956,0.0031934794798781484,-0.0034292989411981037,0.002933611076758635,0.00015630111655127806,0.0031978493795710612,-0.0034379968911371255,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999645,7.023601297887438e-18,4.720624712543444e-18,-2.694306333782839e-07],"qvel":[1.761998555328787e-12,6.361828836784972e-15,5.207984758185395e-13,3.9164415898968285e-12,9.39346398385118e-12,2.6843830180633487e-14,2.1462781377980277e-10,2.04370351078073e-09,-1.7487347199787898e-09,-3.4817651917690255e-10,3.430012422813242e-11,-1.3454683087365098e-09,1.3670291482644598e-09,6.387885963694086e-11,-3.7551567764375796e-17,-6.723048168910777e-19,1.1060064017277917e-14,-1.1910973740570218e-15,4.29914728320807e-15,-8.017472021371059e-08],"joint_position_rad":[-1.9827967155574118,-1.5377242490709055,1.2717620441197337,-1.3048341218437487,-1.5707963267949168,-0.4120003887625137],"joint_velocity_rad_s":[1.761998555328787e-12,6.361828836784972e-15,5.207984758185395e-13,3.9164415898968285e-12,9.39346398385118e-12,2.6843830180633487e-14],"linkage_position_rad":[0.002933611169174906,0.0001563015491788956,0.0031934794798781484,-0.0034292989411981037,0.002933611076758635,0.00015630111655127806,0.0031978493795710612,-0.0034379968911371255],"tcp_position_m":[0.07433918934878943,0.504737357654498,0.4350000000000074],"tcp_quaternion_wxyz":[5.095317930417298e-15,0.707106781186548,0.7071067811865467,1.487922343476556e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999645,7.023601297887438e-18,4.720624712543444e-18,-2.694306333782839e-07],"object_linear_velocity_m_s":[-3.7551567764375796e-17,-6.723048168910777e-19,1.1060064017277917e-14],"object_angular_velocity_rad_s":[-1.1910950581698489e-15,4.299147926169923e-15,-8.01747202137107e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221245732,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.2616190686877204,-1.3096608189181114,-1.5707950771321897,-0.41200038876251033,0.0],"actuator_force":[-6.96672941558063e-10,-21.68537522526549,-20.285950864234565,-2.413348537572915,0.0006248304241580627,-9.947598300641403e-13,-0.2933611135413167],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.412000388762511],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.01999999999904,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.039999999999065,"qpos":[-1.982796715557414,-1.5377242490709055,1.271762044119733,-1.304834121843756,-1.5707963267949354,-0.4120003887625137,0.0029336111682904432,0.0001563015439285671,0.0031934794848237475,-0.003429298941049267,0.002933611077127948,0.0001563011198731384,0.0031978493761410285,-0.0034379968910683467,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999645,5.712829078546495e-19,1.5076188599341775e-17,-2.6973463159319055e-07],"qvel":[-2.6157799439251153e-12,-2.4301196996870204e-14,-1.1889990932326466e-12,-2.3710401606517106e-12,-3.682550504090972e-12,1.4218382116501512e-14,-1.394033343722877e-09,-7.364316136976808e-09,7.236553250077499e-09,4.3196306102086693e-10,1.3434248537750492e-09,4.6707360643924186e-09,-4.254058953362193e-09,-4.421345582995789e-10,-1.7530832819727577e-17,1.7057382992354485e-18,1.0851897200160704e-14,-2.8147942998172076e-16,-2.816785006513969e-16,-8.676302260380087e-09],"joint_position_rad":[-1.982796715557414,-1.5377242490709055,1.271762044119733,-1.304834121843756,-1.5707963267949354,-0.4120003887625137],"joint_velocity_rad_s":[-2.6157799439251153e-12,-2.4301196996870204e-14,-1.1889990932326466e-12,-2.3710401606517106e-12,-3.682550504090972e-12,1.4218382116501512e-14],"linkage_position_rad":[0.0029336111682904432,0.0001563015439285671,0.0031934794848237475,-0.003429298941049267,0.002933611077127948,0.0001563011198731384,0.0031978493761410285,-0.0034379968910683467],"tcp_position_m":[0.07433918934879571,0.5047373576544978,0.4350000000000084],"tcp_quaternion_wxyz":[1.2192226516604594e-14,0.7071067811865488,0.7071067811865459,2.197613202095286e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999645,5.712829078546495e-19,1.5076188599341775e-17,-2.6973463159319055e-07],"object_linear_velocity_m_s":[-1.7530832819727577e-17,1.7057382992354485e-18,1.0851897200160704e-14],"object_angular_velocity_rad_s":[-2.814795822001846e-16,-2.816783487919424e-16,-8.676302260380102e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221232952,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.261619068687721,-1.3096608189181111,-1.5707950771321897,-0.412000388762511,0.0],"actuator_force":[1.059106580214575e-09,-21.685375225254575,-20.28595086354835,-2.4133485369403616,0.0006248317411063908,-5.684341886080802e-14,-0.29336111201787707],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948968,-0.4120003887625106],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.039999999999065,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948968,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.05999999999909,"qpos":[-1.982796715557404,-1.5377242490709055,1.2717620441197366,-1.3048341218437385,-1.5707963267948977,-0.4120003887625137,0.0029336111715472625,0.00015630156437165016,0.0031934794661942797,-0.0034292989435891303,0.0029336110748649385,0.00015630110665984021,0.003197849388348506,-0.003437996889699398,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999645,-1.8219444748123605e-18,1.1962813287082027e-17,-2.7011344916687496e-07],"qvel":[1.9918540045453895e-12,8.928929253782535e-14,7.825135829700451e-13,2.225227260930655e-12,4.101376753043047e-12,1.622521592324047e-14,1.1070988456378507e-09,5.412227289443302e-09,-5.31843184428063e-09,-3.686988857218801e-10,-1.0197095900143355e-09,-3.476200316997239e-09,3.2588692154683057e-09,3.2974546715496735e-10,-1.3752511048101175e-17,-2.224778944159332e-18,1.0785283818683193e-14,-2.1663287548784732e-16,-4.73538398052242e-16,-3.487601259643005e-08],"joint_position_rad":[-1.982796715557404,-1.5377242490709055,1.2717620441197366,-1.3048341218437385,-1.5707963267948977,-0.4120003887625137],"joint_velocity_rad_s":[1.9918540045453895e-12,8.928929253782535e-14,7.825135829700451e-13,2.225227260930655e-12,4.101376753043047e-12,1.622521592324047e-14],"linkage_position_rad":[0.0029336111715472625,0.00015630156437165016,0.0031934794661942797,-0.0034292989435891303,0.0029336110748649385,0.00015630110665984021,0.003197849388348506,-0.003437996889699398],"tcp_position_m":[0.07433918934877971,0.5047373576544979,0.43500000000000477],"tcp_quaternion_wxyz":[-1.4319414650586123e-15,0.7071067811865452,0.7071067811865497,5.103067779790608e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999645,-1.8219444748123605e-18,1.1962813287082027e-17,-2.7011344916687496e-07],"object_linear_velocity_m_s":[-1.3752511048101175e-17,-2.224778944159332e-18,1.0785283818683193e-14],"object_angular_velocity_rad_s":[-2.1663313214042666e-16,-4.735382811483515e-16,-3.487601259643012e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221287972,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877211,-1.3096608189181116,-1.57079507713219,-0.4120003887625106,0.0],"actuator_force":[-8.039933163672686e-10,-21.685375225299595,-20.285950864343704,-2.4133485374089787,0.0006248309437069111,-8.526512829121202e-14,-0.29336111275755633],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708949,1.2717620441197357,-1.3048341218437374,-1.5707963267948968,-0.41200038876251077],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.05999999999909,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708949,1.2717620441197357,-1.3048341218437374,-1.5707963267948968,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.079999999999114,"qpos":[-1.982796715557409,-1.5377242490709055,1.2717620441197344,-1.304834121843744,-1.5707963267949092,-0.4120003887625137,0.0029336111696536883,0.00015630155268449788,0.0031934794767441337,-0.0034292989417418337,0.0029336110764882576,0.00015630111427633942,0.0031978493816992234,-0.0034379968908989466,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999645,-2.844904803497664e-18,5.890532005888442e-18,-2.7024568842563533e-07],"qvel":[2.3740421153947984e-12,4.3484474296213373e-14,8.443383680318924e-13,3.898725687386162e-12,8.553165198485127e-12,2.1625886777887226e-14,6.18700284063697e-10,4.027317874718811e-09,-3.725511107942228e-09,-4.800028087107756e-10,-4.0906458582023797e-10,-2.606321484749218e-09,2.478044625894889e-09,2.238326628203635e-10,-7.924545484062403e-18,-2.1687922672601752e-18,1.0801937164052573e-14,1.716502590944164e-17,-4.0531324593217995e-16,-3.774192490062518e-09],"joint_position_rad":[-1.982796715557409,-1.5377242490709055,1.2717620441197344,-1.304834121843744,-1.5707963267949092,-0.4120003887625137],"joint_velocity_rad_s":[2.3740421153947984e-12,4.3484474296213373e-14,8.443383680318924e-13,3.898725687386162e-12,8.553165198485127e-12,2.1625886777887226e-14],"linkage_position_rad":[0.0029336111696536883,0.00015630155268449788,0.0031934794767441337,-0.0034292989417418337,0.0029336110764882576,0.00015630111427633942,0.0031978493816992234,-0.0034379968908989466],"tcp_position_m":[0.07433918934878582,0.504737357654498,0.4350000000000066],"tcp_quaternion_wxyz":[2.5194207286947867e-15,0.7071067811865467,0.7071067811865478,1.097663775526612e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999645,-2.844904803497664e-18,5.890532005888442e-18,-2.7024568842563533e-07],"object_linear_velocity_m_s":[-7.924545484062403e-18,-2.1687922672601752e-18,1.0801937164052573e-14],"object_angular_velocity_rad_s":[1.7164806796660807e-17,-4.0531325523114446e-16,-3.774192490062526e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221254772,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835364,1.2616190686877202,-1.3096608189181111,-1.5707950771321897,-0.41200038876251077,0.0],"actuator_force":[-9.472387318965048e-10,-21.68537522527913,-20.285950864365986,-2.41334853757337,0.0006248305045346569,-7.105427357601002e-13,-0.29336111335527576],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.41200038876251055],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.079999999999114,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.41200038876251055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.099999999999138,"qpos":[-1.9827967155574084,-1.5377242490709055,1.2717620441197348,-1.304834121843748,-1.5707963267949212,-0.4120003887625137,0.0029336111714305378,0.0001563015608705576,0.003193479468533005,-0.0034292989420095362,0.0029336110743923703,0.00015630110919913367,0.00319784938587227,-0.0034379968901847523,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999634,-6.5964614526459084e-18,-5.85816038291719e-18,-2.7071621760029015e-07],"qvel":[-1.6394015854953475e-12,3.2588104363952544e-14,-7.156929659629344e-13,-1.6500720551534582e-12,-2.8425577913876603e-12,1.4928092258186938e-14,-5.982994909665627e-10,-3.0765237694791455e-09,3.0122401569744664e-09,3.203678599134989e-10,5.560775261386274e-10,2.0109287549684523e-09,-1.9020078876503273e-09,-2.2393446252392945e-10,7.260119844075188e-18,-8.921864701144678e-18,1.1477785430293136e-14,6.872989345735213e-17,-3.016562565789787e-16,-1.5171069526454862e-08],"joint_position_rad":[-1.9827967155574084,-1.5377242490709055,1.2717620441197348,-1.304834121843748,-1.5707963267949212,-0.4120003887625137],"joint_velocity_rad_s":[-1.6394015854953475e-12,3.2588104363952544e-14,-7.156929659629344e-13,-1.6500720551534582e-12,-2.8425577913876603e-12,1.4928092258186938e-14],"linkage_position_rad":[0.0029336111714305378,0.0001563015608705576,0.003193479468533005,-0.0034292989420095362,0.0029336110743923703,0.00015630110919913367,0.00319784938587227,-0.0034379968901847523],"tcp_position_m":[0.07433918934878862,0.5047373576544975,0.4350000000000067],"tcp_quaternion_wxyz":[7.408417427691362e-15,0.7071067811865462,0.707106781186548,1.4839495204344985e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999634,-6.5964614526459084e-18,-5.85816038291719e-18,-2.7071621760029015e-07],"object_linear_velocity_m_s":[7.260119844075188e-18,-8.921864701144678e-18,1.1477785430293136e-14],"object_angular_velocity_rad_s":[6.872973030860953e-17,-3.0165629399167886e-16,-1.5171069526454862e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221285205,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.261619068687721,-1.3096608189181116,-1.57079507713219,-0.41200038876251055,0.0],"actuator_force":[6.571099220309407e-10,-21.685375225276857,-20.285950863741164,-2.413348537016759,0.000624831649929547,5.684341886080802e-14,-0.29336111208003557],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708958,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.41200038876251094],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.099999999999138,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708958,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.41200038876251094],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.119999999999163,"qpos":[-1.9827967155574027,-1.5377242490709055,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625137,0.002933611173654479,0.0001563015716231773,0.003193479457702916,-0.003429298942484129,0.0029336110727549466,0.00015630110217048019,0.0031978493932373945,-0.0034379968899941817,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999634,-2.2817982357099343e-18,-1.3420208296063858e-18,-2.710130674368063e-07],"qvel":[1.6470063638429734e-12,9.722564666399814e-14,6.60829730979855e-13,1.5296998436699003e-12,2.4955053200599965e-12,1.2767750482111392e-14,1.0897970318730923e-09,5.1211235383936416e-09,-5.031350121978457e-09,-3.731234291453797e-10,-1.0403807284930796e-09,-3.310867216240746e-09,3.066588258025428e-09,3.5477850288430086e-10,-6.297511230478755e-18,-1.1601819580962708e-18,1.1651257777890817e-14,6.560953530699356e-16,1.0901035037660309e-15,-6.098293904792755e-08],"joint_position_rad":[-1.9827967155574027,-1.5377242490709055,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625137],"joint_velocity_rad_s":[1.6470063638429734e-12,9.722564666399814e-14,6.60829730979855e-13,1.5296998436699003e-12,2.4955053200599965e-12,1.2767750482111392e-14],"linkage_position_rad":[0.002933611173654479,0.0001563015716231773,0.003193479457702916,-0.003429298942484129,0.0029336110727549466,0.00015630110217048019,0.0031978493932373945,-0.0034379968899941817],"tcp_position_m":[0.0743391893487787,0.5047373576544979,0.4350000000000048],"tcp_quaternion_wxyz":[-1.8244210443881733e-15,0.7071067811865446,0.7071067811865501,4.4885435955360155e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999634,-2.2817982357099343e-18,-1.3420208296063858e-18,-2.710130674368063e-07],"object_linear_velocity_m_s":[-6.297511230478755e-18,-1.1601819580962708e-18,1.1651257777890817e-14],"object_angular_velocity_rad_s":[6.560959440981087e-16,1.090103147866741e-15,-6.098293904792756e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221313675,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835375,1.2616190686877211,-1.3096608189181116,-1.5707950771321901,-0.41200038876251094,0.0],"actuator_force":[-6.684786058031023e-10,-21.685375225303233,-20.285950864295046,-2.4133485373400845,0.0006248311036642917,8.526512829121202e-14,-0.2933611125675528],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197355,-1.3048341218437367,-1.5707963267948966,-0.4120003887625109],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.119999999999163,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197355,-1.3048341218437367,-1.5707963267948966,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.139999999999187,"qpos":[-1.9827967155574067,-1.5377242490709055,1.271762044119735,-1.3048341218437407,-1.5707963267949023,-0.4120003887625137,0.0029336111705962242,0.00015630155767217953,0.003193479471771381,-0.003429298942136612,0.0029336110756909926,0.00015630111104578785,0.0031978493848889987,-0.0034379968906446544,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999634,2.1561777671422554e-18,4.5285998569223316e-18,-2.7124429624011124e-07],"qvel":[2.4462328833007205e-12,7.632751490909191e-14,9.319092246565027e-13,3.2715743696884666e-12,6.588019562979423e-12,1.7788387466571507e-14,8.735006828291597e-10,5.0421039885173466e-09,-4.753988644741414e-09,-5.374432669560133e-10,-7.213291910170983e-10,-3.2501167109892087e-09,3.0095538353965488e-09,3.3530949111225746e-10,-3.3647908895196074e-18,5.886180484450213e-19,1.161239997202893e-14,2.2788377859825953e-16,1.2603403144562613e-16,-6.5994170044594165e-09],"joint_position_rad":[-1.9827967155574067,-1.5377242490709055,1.271762044119735,-1.3048341218437407,-1.5707963267949023,-0.4120003887625137],"joint_velocity_rad_s":[2.4462328833007205e-12,7.632751490909191e-14,9.319092246565027e-13,3.2715743696884666e-12,6.588019562979423e-12,1.7788387466571507e-14],"linkage_position_rad":[0.0029336111705962242,0.00015630155767217953,0.003193479471771381,-0.003429298942136612,0.0029336110756909926,0.00015630111104578785,0.0031978493848889987,-0.0034379968906446544],"tcp_position_m":[0.07433918934878245,0.5047373576544978,0.4350000000000057],"tcp_quaternion_wxyz":[2.3889752606485468e-17,0.7071067811865461,0.7071067811865486,7.677012134185142e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999634,2.1561777671422554e-18,4.5285998569223316e-18,-2.7124429624011124e-07],"object_linear_velocity_m_s":[-3.3647908895196074e-18,5.886180484450213e-19,1.161239997202893e-14],"object_angular_velocity_rad_s":[2.2788384691047815e-16,1.2603390784971635e-16,-6.599417004459418e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221269402,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.26161906868772,-1.3096608189181105,-1.5707950771321897,-0.4120003887625109,0.0],"actuator_force":[-9.804352885112166e-10,-21.685375225293228,-20.28595086440282,-2.4133485375120927,0.0006248306975749074,-3.979039320256561e-13,-0.2933611130752182],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.41200038876251033],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.139999999999187,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.15999999999921,"qpos":[-1.9827967155574082,-1.5377242490709055,1.2717620441197346,-1.3048341218437463,-1.570796326794916,-0.4120003887625137,0.002933611171360241,0.00015630156093621495,0.003193479468596228,-0.003429298942047584,0.0029336110745896145,0.0001563011091046035,0.0031978493860284375,-0.003437996890241353,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999634,-3.689929204424771e-18,2.669023301340166e-18,-2.7168005482418047e-07],"qvel":[1.6399468829561986e-13,2.2931152934175023e-14,-9.500100223754982e-14,1.5026087870210837e-12,4.303578545136516e-12,2.2717234211141356e-14,2.5284308038170573e-11,4.1225899644597706e-10,-3.254216704904067e-10,8.61173273381702e-12,1.0289791454536137e-10,-2.708714397923278e-10,3.2810561473189156e-10,-5.4536363046505975e-11,-2.5737218709955855e-19,-6.556721696326626e-18,1.160407329934424e-14,-1.6880380080117718e-16,-1.7007033673209428e-17,-2.6527585562307422e-08],"joint_position_rad":[-1.9827967155574082,-1.5377242490709055,1.2717620441197346,-1.3048341218437463,-1.570796326794916,-0.4120003887625137],"joint_velocity_rad_s":[1.6399468829561986e-13,2.2931152934175023e-14,-9.500100223754982e-14,1.5026087870210837e-12,4.303578545136516e-12,2.2717234211141356e-14],"linkage_position_rad":[0.002933611171360241,0.00015630156093621495,0.003193479468596228,-0.003429298942047584,0.0029336110745896145,0.0001563011091046035,0.0031978493860284375,-0.003437996890241353],"tcp_position_m":[0.07433918934878701,0.5047373576544978,0.43500000000000694],"tcp_quaternion_wxyz":[5.290530753929585e-15,0.7071067811865461,0.7071067811865481,1.3179167004310807e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999634,-3.689929204424771e-18,2.669023301340166e-18,-2.7168005482418047e-07],"object_linear_velocity_m_s":[-2.5737218709955855e-19,-6.556721696326626e-18,1.160407329934424e-14],"object_angular_velocity_rad_s":[-1.6880381018370158e-16,-1.7006942147725002e-17,-2.6527585562307435e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221283798,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835373,1.2616190686877211,-1.3096608189181116,-1.57079507713219,-0.41200038876251033,0.0],"actuator_force":[-6.502887117676437e-11,-21.685375225272765,-20.285950863988546,-2.413348537332922,0.0006248309327929746,-5.968558980384842e-13,-0.2933611129384039],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948963,-0.4120003887625102],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.15999999999921,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948963,-0.4120003887625102],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.179999999999236,"qpos":[-1.9827967155574076,-1.5377242490709055,1.271762044119735,-1.304834121843747,-1.5707963267949192,-0.4120003887625137,0.0029336111717895865,0.00015630156175827574,0.0031934794671515192,-0.0034292989417054292,0.0029336110740220724,0.0001563011086008136,0.0031978493868175905,-0.003437996890384378,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999634,-4.226554471722466e-18,3.058667117466612e-18,-2.718325202918744e-07],"qvel":[-4.815286595006294e-12,6.084204855973559e-14,-1.3854793593442493e-12,-9.81563273693046e-12,-2.3258706079177475e-11,-5.450417032308776e-15,-1.7624087970671585e-09,-9.519733096260458e-09,9.022483422421897e-09,8.472467038116068e-10,1.1587146428402334e-09,6.2402592649508684e-09,-6.2109374085315814e-09,-3.9542854941082065e-10,-3.6310495411439467e-17,1.4326316662193899e-19,1.1418110942719523e-14,9.638118498090469e-17,3.6169123221623445e-15,-1.0663257001182354e-07],"joint_position_rad":[-1.9827967155574076,-1.5377242490709055,1.271762044119735,-1.304834121843747,-1.5707963267949192,-0.4120003887625137],"joint_velocity_rad_s":[-4.815286595006294e-12,6.084204855973559e-14,-1.3854793593442493e-12,-9.81563273693046e-12,-2.3258706079177475e-11,-5.450417032308776e-15],"linkage_position_rad":[0.0029336111717895865,0.00015630156175827574,0.0031934794671515192,-0.0034292989417054292,0.0029336110740220724,0.0001563011086008136,0.0031978493868175905,-0.003437996890384378],"tcp_position_m":[0.07433918934878757,0.5047373576544977,0.4350000000000065],"tcp_quaternion_wxyz":[6.736193374892662e-15,0.7071067811865462,0.7071067811865485,1.3742230357347014e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999634,-4.226554471722466e-18,3.058667117466612e-18,-2.718325202918744e-07],"object_linear_velocity_m_s":[-3.6310495411439467e-17,1.4326316662193899e-19,1.1418110942719523e-14],"object_angular_velocity_rad_s":[9.63831507173676e-17,3.6169122688613544e-15,-1.066325700118236e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221288303,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.261619068687721,-1.3096608189181116,-1.57079507713219,-0.4120003887625102,0.0],"actuator_force":[1.926309778355062e-09,-21.68537522528777,-20.285950863473772,-2.413348536200715,0.0006248336906082841,2.2737367544323206e-12,-0.29336110927211223],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197355,-1.3048341218437371,-1.570796326794897,-0.4120003887625102],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.179999999999236,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197355,-1.3048341218437371,-1.570796326794897,-0.4120003887625102],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.19999999999926,"qpos":[-1.9827967155574047,-1.5377242490709055,1.2717620441197357,-1.3048341218437383,-1.570796326794898,-0.4120003887625137,0.0029336111715221307,0.00015630156268293377,0.003193479467050009,-0.003429298942720896,0.0029336110748677175,0.00015630110778782502,0.0031978493878508456,-0.0034379968902499528,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999634,-2.6229433889735604e-18,1.3547787934593329e-17,-2.722368386461897e-07],"qvel":[2.2035895861394548e-12,9.871330054312853e-14,8.669079230938372e-13,2.4624521308686492e-12,4.520717015246665e-12,1.837345077025084e-14,1.057321769460083e-09,5.498160201875085e-09,-5.2844061659722356e-09,-5.03319591619167e-10,-9.591179827034827e-10,-3.535743046737656e-09,3.254018104816761e-09,3.8565842479648545e-10,-1.4591961993520057e-17,-2.9612757627583276e-18,1.1363987570269043e-14,2.1925152723544604e-16,-3.675196566797607e-16,-1.153950279785914e-08],"joint_position_rad":[-1.9827967155574047,-1.5377242490709055,1.2717620441197357,-1.3048341218437383,-1.570796326794898,-0.4120003887625137],"joint_velocity_rad_s":[2.2035895861394548e-12,9.871330054312853e-14,8.669079230938372e-13,2.4624521308686492e-12,4.520717015246665e-12,1.837345077025084e-14],"linkage_position_rad":[0.0029336111715221307,0.00015630156268293377,0.003193479467050009,-0.003429298942720896,0.0029336110748677175,0.00015630110778782502,0.0031978493878508456,-0.0034379968902499528],"tcp_position_m":[0.07433918934878003,0.5047373576544977,0.4350000000000054],"tcp_quaternion_wxyz":[-1.4981800186058832e-15,0.707106781186545,0.7071067811865492,5.743370832651035e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999634,-2.6229433889735604e-18,1.3547787934593329e-17,-2.722368386461897e-07],"object_linear_velocity_m_s":[-1.4591961993520057e-17,-2.9612757627583276e-18,1.1363987570269043e-14],"object_angular_velocity_rad_s":[2.1925132681796528e-16,-3.675197761169266e-16,-1.153950279785915e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221284009,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.26161906868772,-1.309660818918111,-1.5707950771321901,-0.4120003887625102,0.0],"actuator_force":[-8.872120815794915e-10,-21.685375225302323,-20.285950864378265,-2.413348537432512,0.0006248309018701548,-1.1368683772161603e-13,-0.29336111281051136],"issued_joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.41200038876251094],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.19999999999926,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.41200038876251094],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.219999999999285,"qpos":[-1.982796715557407,-1.5377242490709055,1.2717620441197346,-1.3048341218437434,-1.57079632679491,-0.4120003887625137,0.0029336111716766907,0.000156301563013765,0.003193479466699632,-0.0034292989422798747,0.002933611074428659,0.00015630110771960854,0.003197849387380479,-0.0034379968901475976,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999634,-7.807498079349155e-18,3.457404605239801e-17,-2.726106779615934e-07],"qvel":[1.1247117001015778e-12,3.407130801003441e-14,3.191032736445906e-13,2.482449941882641e-12,6.0022284681152e-12,1.9969039605707808e-14,4.423084863674405e-10,2.5427008421478435e-09,-2.4387530941113507e-09,-1.500518524158781e-10,-2.8776308637016413e-10,-1.6487056155964251e-09,1.6296907550484605e-09,7.734697446966202e-11,-6.017508863964146e-17,-1.3482009564831911e-17,1.1239087479998711e-14,-6.359227375336212e-16,2.4509742318019103e-15,-4.638518032875463e-08],"joint_position_rad":[-1.982796715557407,-1.5377242490709055,1.2717620441197346,-1.3048341218437434,-1.57079632679491,-0.4120003887625137],"joint_velocity_rad_s":[1.1247117001015778e-12,3.407130801003441e-14,3.191032736445906e-13,2.482449941882641e-12,6.0022284681152e-12,1.9969039605707808e-14],"linkage_position_rad":[0.0029336111716766907,0.000156301563013765,0.003193479466699632,-0.0034292989422798747,0.002933611074428659,0.00015630110771960854,0.003197849387380479,-0.0034379968901475976],"tcp_position_m":[0.07433918934878486,0.5047373576544978,0.4350000000000065],"tcp_quaternion_wxyz":[2.8994222283343735e-15,0.7071067811865459,0.7071067811865483,1.0866563101649782e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999634,-7.807498079349155e-18,3.457404605239801e-17,-2.726106779615934e-07],"object_linear_velocity_m_s":[-6.017508863964146e-17,-1.3482009564831911e-17,1.1239087479998711e-14],"object_angular_velocity_rad_s":[-6.359214044174803e-16,2.450974577795902e-15,-4.638518032875468e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221288604,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835368,1.2616190686877204,-1.3096608189181114,-1.57079507713219,-0.41200038876251094,0.0],"actuator_force":[-4.511093720793724e-10,-21.685375225276402,-20.285950864155893,-2.4133485374322845,0.0006248307598752945,-6.252776074688882e-13,-0.2933611130779945],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197364,-1.304834121843738,-1.5707963267948966,-0.4120003887625101],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.219999999999285,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197364,-1.304834121843738,-1.5707963267948966,-0.4120003887625101],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.23999999999931,"qpos":[-1.9827967155574093,-1.5377242490709055,1.2717620441197341,-1.3048341218437485,-1.5707963267949223,-0.4120003887625137,0.0029336111709521574,0.00015630155776858172,0.0031934794711912704,-0.0034292989415346327,0.0029336110748163515,0.00015630111115387324,0.003197849384356504,-0.0034379968905716768,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999634,-6.6838894948827256e-18,3.318466656624686e-17,-2.727865564926374e-07],"qvel":[-1.7011181355515786e-12,3.335334380371359e-14,-7.485103611429907e-13,-1.7213058263363249e-12,-2.943806389914251e-12,1.7258302975019552e-14,-7.174647275076099e-10,-3.5468727012888403e-09,3.5295275057036543e-09,2.4992484383303414e-10,6.748088873564656e-10,2.2933113404640036e-09,-2.1829295439117446e-09,-2.0408345699398074e-10,-3.7942528424457024e-17,-8.6495620217721e-18,1.1116962947289943e-14,4.618120542435696e-16,-9.925654773160774e-16,-5.019685056109311e-09],"joint_position_rad":[-1.9827967155574093,-1.5377242490709055,1.2717620441197341,-1.3048341218437485,-1.5707963267949223,-0.4120003887625137],"joint_velocity_rad_s":[-1.7011181355515786e-12,3.335334380371359e-14,-7.485103611429907e-13,-1.7213058263363249e-12,-2.943806389914251e-12,1.7258302975019552e-14],"linkage_position_rad":[0.0029336111709521574,0.00015630155776858172,0.0031934794711912704,-0.0034292989415346327,0.0029336110748163515,0.00015630111115387324,0.003197849384356504,-0.0034379968905716768],"tcp_position_m":[0.07433918934878934,0.5047373576544977,0.4350000000000071],"tcp_quaternion_wxyz":[7.668641750578491e-15,0.7071067811865467,0.7071067811865478,1.5478773378025523e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999634,-6.6838894948827256e-18,3.318466656624686e-17,-2.727865564926374e-07],"object_linear_velocity_m_s":[-3.7942528424457024e-17,-8.6495620217721e-18,1.1116962947289943e-14],"object_angular_velocity_rad_s":[4.618115123933108e-16,-9.925657293352727e-16,-5.019685056109317e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221275847,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.261619068687721,-1.309660818918112,-1.57079507713219,-0.4120003887625101,0.0],"actuator_force":[6.834852683823556e-10,-21.685375225275948,-20.285950863727066,-2.413348537009597,0.0006248316606161097,5.684341886080802e-14,-0.2933611120751462],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.412000388762511],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.23999999999931,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.259999999999334,"qpos":[-1.982796715557403,-1.5377242490709055,1.2717620441197364,-1.3048341218437363,-1.5707963267948946,-0.4120003887625137,0.002933611172571893,0.00015630156782113185,0.003193479462118717,-0.0034292989432286743,0.002933611073877387,0.00015630110446782392,0.00319784939087114,-0.0034379968898357242,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999634,1.1020642791249495e-17,4.1700992012691873e-17,-2.7321659302868137e-07],"qvel":[1.8094554182577238e-12,1.0828207479085445e-13,7.299589596966061e-13,1.6769429411166845e-12,2.7294485983727054e-12,1.2762561344670451e-14,1.171040349108505e-09,5.563045601680836e-09,-5.436635848559353e-09,-4.270874172280482e-10,-1.115743565436679e-09,-3.5757395069368877e-09,3.291335415937813e-09,3.9597131804624635e-10,-5.3185457220542246e-17,1.2232134716037975e-17,1.1107248495824469e-14,6.251450097260437e-16,-6.657782816367748e-16,-2.0177558825542042e-08],"joint_position_rad":[-1.982796715557403,-1.5377242490709055,1.2717620441197364,-1.3048341218437363,-1.5707963267948946,-0.4120003887625137],"joint_velocity_rad_s":[1.8094554182577238e-12,1.0828207479085445e-13,7.299589596966061e-13,1.6769429411166845e-12,2.7294485983727054e-12,1.2762561344670451e-14],"linkage_position_rad":[0.002933611172571893,0.00015630156782113185,0.003193479462118717,-0.0034292989432286743,0.002933611073877387,0.00015630110446782392,0.00319784939087114,-0.0034379968898357242],"tcp_position_m":[0.07433918934877824,0.5047373576544976,0.4350000000000046],"tcp_quaternion_wxyz":[-2.461419251089366e-15,0.7071067811865448,0.7071067811865499,3.629500783909793e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999634,1.1020642791249495e-17,4.1700992012691873e-17,-2.7321659302868137e-07],"object_linear_velocity_m_s":[-5.3185457220542246e-17,1.2232134716037975e-17,1.1107248495824469e-14],"object_angular_velocity_rad_s":[6.251446442397553e-16,-6.65778622791916e-16,-2.017755882554207e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322129949,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877211,-1.3096608189181116,-1.57079507713219,-0.412000388762511,0.0],"actuator_force":[-7.335074769798666e-10,-21.68537522530687,-20.28595086432233,-2.4133485373553185,0.0006248310794489953,8.526512829121202e-14,-0.29336111259894787],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197361,-1.3048341218437371,-1.5707963267948968,-0.4120003887625107],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.259999999999334,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197361,-1.3048341218437371,-1.5707963267948968,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.279999999999358,"qpos":[-1.982796715557406,-1.5377242490709055,1.271762044119735,-1.3048341218437411,-1.5707963267949046,-0.4120003887625137,0.0029336111722786675,0.0001563015663519522,0.0031934794635154317,-0.003429298942559934,0.0029336110739561264,0.0001563011055543733,0.0031978493894446168,-0.003437996889960753,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999634,1.7076121282066808e-17,3.1503678061064917e-17,-2.734810386298213e-07],"qvel":[1.5079083341231703e-12,4.8965056195952126e-14,5.243816136359882e-13,2.4550493000527446e-12,5.420609629172445e-12,1.9331146592659574e-14,7.222762058343978e-10,3.7497848662587624e-09,-3.6822435695013795e-09,-2.1009067449430293e-10,-5.936753727877353e-10,-2.4254434535721953e-09,2.3465520648289166e-09,1.659770811336189e-10,-5.1533785974873264e-17,3.700131119695264e-17,1.1093370708016657e-14,2.6701627585993517e-15,-2.406377169046026e-16,-8.110745507084506e-08],"joint_position_rad":[-1.982796715557406,-1.5377242490709055,1.271762044119735,-1.3048341218437411,-1.5707963267949046,-0.4120003887625137],"joint_velocity_rad_s":[1.5079083341231703e-12,4.8965056195952126e-14,5.243816136359882e-13,2.4550493000527446e-12,5.420609629172445e-12,1.9331146592659574e-14],"linkage_position_rad":[0.0029336111722786675,0.0001563015663519522,0.0031934794635154317,-0.003429298942559934,0.0029336110739561264,0.0001563011055543733,0.0031978493894446168,-0.003437996889960753],"tcp_position_m":[0.07433918934878272,0.5047373576544979,0.43500000000000594],"tcp_quaternion_wxyz":[1.0290993034752948e-15,0.7071067811865457,0.707106781186549,8.492694759657244e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999634,1.7076121282066808e-17,3.1503678061064917e-17,-2.734810386298213e-07],"object_linear_velocity_m_s":[-5.1533785974873264e-17,3.700131119695264e-17,1.1093370708016657e-14],"object_angular_velocity_rad_s":[2.670162621868885e-15,-2.4063917461233314e-16,-8.11074550708452e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221297814,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.548566936683537,1.2616190686877207,-1.3096608189181111,-1.5707950771321901,-0.4120003887625107,0.0],"actuator_force":[-6.066329660825431e-10,-21.68537522528277,-20.285950864238202,-2.4133485374304655,0.0006248308152407844,-4.547473508864641e-13,-0.2933611129547438],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625105],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.279999999999358,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.299999999999383,"qpos":[-1.9827967155574096,-1.5377242490709055,1.2717620441197341,-1.3048341218437471,-1.5707963267949177,-0.4120003887625137,0.002933611170786304,0.00015630155756955126,0.0031934794716205633,-0.0034292989416883205,0.0029336110751226625,0.00015630111124161663,0.0031978493843076005,-0.0034379968905749528,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999634,2.17157998195914e-17,2.2911896597626805e-17,-2.7378857349232454e-07],"qvel":[2.349649461796925e-13,2.3099440171866157e-14,-7.922804989454685e-14,1.6746061786056182e-12,4.729168849006775e-12,2.2249448809638733e-14,-4.1315664680578776e-11,2.640209252661578e-10,-1.0706777488398499e-10,-8.494147981404421e-11,1.8430235309240097e-10,-1.8695386380504156e-10,2.2883019494795092e-10,-2.2015260932170172e-11,-2.8905978645230484e-17,2.3483429891037244e-17,1.0897693899926472e-14,-6.127872608970859e-16,-1.1513100522248737e-15,-8.777240430512276e-09],"joint_position_rad":[-1.9827967155574096,-1.5377242490709055,1.2717620441197341,-1.3048341218437471,-1.5707963267949177,-0.4120003887625137],"joint_velocity_rad_s":[2.349649461796925e-13,2.3099440171866157e-14,-7.922804989454685e-14,1.6746061786056182e-12,4.729168849006775e-12,2.2249448809638733e-14],"linkage_position_rad":[0.002933611170786304,0.00015630155756955126,0.0031934794716205633,-0.0034292989416883205,0.0029336110751226625,0.00015630111124161663,0.0031978493843076005,-0.0034379968905749528],"tcp_position_m":[0.07433918934878825,0.5047373576544976,0.43500000000000694],"tcp_quaternion_wxyz":[5.8354062745169384e-15,0.7071067811865467,0.7071067811865476,1.3913569450294862e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999634,2.17157998195914e-17,2.2911896597626805e-17,-2.7378857349232454e-07],"object_linear_velocity_m_s":[-2.8905978645230484e-17,2.3483429891037244e-17,1.0897693899926472e-14],"object_angular_velocity_rad_s":[-6.127878917302751e-16,-1.1513097162951933e-15,-8.777240430512291e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221273383,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.261619068687721,-1.3096608189181114,-1.5707950771321897,-0.4120003887625105,0.0],"actuator_force":[-9.049472282640636e-11,-21.68537522527231,-20.285950863994458,-2.4133485373495205,0.0006248308910699052,-6.252776074688882e-13,-0.2933611130103818],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625106],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.299999999999383,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.319999999999407,"qpos":[-1.9827967155574084,-1.5377242490709055,1.271762044119735,-1.3048341218437471,-1.57079632679492,-0.4120003887625137,0.0029336111705243455,0.00015630155702281234,0.0031934794724727245,-0.003429298942405984,0.002933611075263652,0.00015630111147067218,0.0031978493838723497,-0.003437996890235412,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999634,-4.795311125653964e-18,1.394098824518449e-17,-2.7417179814537927e-07],"qvel":[-5.22446989961141e-12,6.058027625190726e-14,-1.5190016636989268e-12,-1.0684982466608762e-11,-2.5296057412236998e-11,-9.55397297598575e-15,-1.9377435557000717e-09,-1.041662727268244e-08,9.891551754273063e-09,9.065330422754632e-10,1.2721684863182839e-09,6.785408980299949e-09,-6.766606939809381e-09,-4.17125910336463e-10,-2.0699202129612876e-17,-8.262826727446882e-18,1.0786671597463961e-14,-2.2028367881979028e-15,-8.754808196762002e-16,-3.528175236752034e-08],"joint_position_rad":[-1.9827967155574084,-1.5377242490709055,1.271762044119735,-1.3048341218437471,-1.57079632679492,-0.4120003887625137],"joint_velocity_rad_s":[-5.22446989961141e-12,6.058027625190726e-14,-1.5190016636989268e-12,-1.0684982466608762e-11,-2.5296057412236998e-11,-9.55397297598575e-15],"linkage_position_rad":[0.0029336111705243455,0.00015630155702281234,0.0031934794724727245,-0.003429298942405984,0.002933611075263652,0.00015630111147067218,0.0031978493838723497,-0.003437996890235412],"tcp_position_m":[0.07433918934878826,0.5047373576544976,0.43500000000000644],"tcp_quaternion_wxyz":[7.037137107349386e-15,0.7071067811865466,0.7071067811865479,1.4121678712737928e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999634,-4.795311125653964e-18,1.394098824518449e-17,-2.7417179814537927e-07],"object_linear_velocity_m_s":[-2.0699202129612876e-17,-8.262826727446882e-18,1.0786671597463961e-14],"object_angular_velocity_rad_s":[-2.202837269245602e-15,-8.754796121029975e-16,-3.5281752367520414e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221271405,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877211,-1.3096608189181114,-1.57079507713219,-0.4120003887625106,0.0],"actuator_force":[2.090928319375962e-09,-21.685375225288226,-20.285950863420112,-2.413348536113517,0.0006248338947898446,2.5011104298755527e-12,-0.2933611089615245],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.319999999999407,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.33999999999943,"qpos":[-1.9827967155574047,-1.5377242490709055,1.271762044119736,-1.3048341218437391,-1.5707963267949008,-0.4120003887625137,0.002933611173076774,0.0001563015703094399,0.00319347945963567,-0.003429298942849496,0.002933611073250412,0.0001563011029675755,0.0031978493919074947,-0.0034379968897273526,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999634,-1.1261444891516434e-17,8.544638888648634e-18,-2.743055758462545e-07],"qvel":[1.5264654475097928e-12,6.3685457172235e-14,5.698007508260469e-13,2.0076256027596186e-12,4.080800033189814e-12,1.657543885854307e-14,9.068034550033217e-10,4.343275240604057e-09,-4.335908798629542e-09,-2.0685235346496316e-10,-8.1679103067489e-10,-2.8046613853470382e-09,2.692400495207056e-09,2.1489782781419842e-10,-1.0817890674405898e-17,-9.866895861721187e-18,1.0770018252094581e-14,9.038042912684165e-17,-1.3264991592307337e-16,-3.818100605783399e-09],"joint_position_rad":[-1.9827967155574047,-1.5377242490709055,1.271762044119736,-1.3048341218437391,-1.5707963267949008,-0.4120003887625137],"joint_velocity_rad_s":[1.5264654475097928e-12,6.3685457172235e-14,5.698007508260469e-13,2.0076256027596186e-12,4.080800033189814e-12,1.657543885854307e-14],"linkage_position_rad":[0.002933611173076774,0.0001563015703094399,0.00319347945963567,-0.003429298942849496,0.002933611073250412,0.0001563011029675755,0.0031978493919074947,-0.0034379968897273526],"tcp_position_m":[0.07433918934878071,0.5047373576544975,0.43500000000000527],"tcp_quaternion_wxyz":[-1.841858148442422e-16,0.7071067811865448,0.7071067811865495,6.22075271189167e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999634,-1.1261444891516434e-17,8.544638888648634e-18,-2.743055758462545e-07],"object_linear_velocity_m_s":[-1.0817890674405898e-17,-9.866895861721187e-18,1.0770018252094581e-14],"object_angular_velocity_rad_s":[9.038035628835647e-17,-1.3264996559275963e-16,-3.818100605783407e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221309237,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.261619068687721,-1.3096608189181116,-1.57079507713219,-0.4120003887625108,0.0],"actuator_force":[-6.166374078020453e-10,-21.685375225289135,-20.285950864257757,-2.4133485373869235,0.0006248309473448899,-2.2737367544323206e-13,-0.2933611127664214],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625107],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.33999999999943,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.359999999999456,"qpos":[-1.9827967155574084,-1.5377242490709055,1.2717620441197348,-1.304834121843744,-1.5707963267949112,-0.4120003887625137,0.002933611171076358,0.00015630155972322038,0.003193479469718611,-0.0034292989420121474,0.002933611075003553,0.00015630110981753762,0.003197849385652865,-0.0034379968904436824,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999623,-5.8127278487140445e-18,-5.787181529334256e-18,-2.747815790526405e-07],"qvel":[1.2669305608386724e-12,3.4157466425644604e-14,3.6772074923580674e-13,2.7282307276777933e-12,6.548151171182387e-12,2.159032328046642e-14,4.091464414972843e-10,2.5927119866506243e-09,-2.4049821349734043e-09,-2.538081104865589e-10,-2.378882262319922e-10,-1.6860196966433818e-09,1.6327721548100946e-09,1.2014536434195187e-10,7.757903466217129e-18,-1.0258261399933906e-17,1.146807097882765e-14,3.5268950671882054e-16,-4.3085412782936135e-16,-1.534756637395962e-08],"joint_position_rad":[-1.9827967155574084,-1.5377242490709055,1.2717620441197348,-1.304834121843744,-1.5707963267949112,-0.4120003887625137],"joint_velocity_rad_s":[1.2669305608386724e-12,3.4157466425644604e-14,3.6772074923580674e-13,2.7282307276777933e-12,6.548151171182387e-12,2.159032328046642e-14],"linkage_position_rad":[0.002933611171076358,0.00015630155972322038,0.003193479469718611,-0.0034292989420121474,0.002933611075003553,0.00015630110981753762,0.003197849385652865,-0.0034379968904436824],"tcp_position_m":[0.07433918934878583,0.5047373576544976,0.4350000000000064],"tcp_quaternion_wxyz":[3.3878389488442944e-15,0.7071067811865462,0.707106781186548,1.1165452896762996e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999623,-5.8127278487140445e-18,-5.787181529334256e-18,-2.747815790526405e-07],"object_linear_velocity_m_s":[7.757903466217129e-18,-1.0258261399933906e-17,1.146807097882765e-14],"object_angular_velocity_rad_s":[3.5268927011485036e-16,-4.3085432183287793e-16,-1.534756637395962e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322127847,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.2616190686877207,-1.3096608189181111,-1.5707950771321897,-0.4120003887625107,0.0],"actuator_force":[-5.052243068348616e-10,-21.685375225276857,-20.285950864174993,-2.413348537456386,0.0006248307059877334,-6.821210263296962e-13,-0.2933611131602866],"issued_joint_targets_rad":[-1.9827967155574073,-1.537724249070895,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.4120003887625101],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.359999999999456,"joint_targets_rad":[-1.9827967155574073,-1.537724249070895,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.4120003887625101],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.37999999999948,"qpos":[-1.98279671555741,-1.5377242490709053,1.2717620441197344,-1.3048341218437487,-1.5707963267949234,-0.4120003887625136,0.0029336111696070914,0.00015630155269310774,0.0031934794768774424,-0.003429298942219492,0.0029336110761326835,0.0001563011142482797,0.003197849381181824,-0.0034379968904310453,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999623,4.844059825644426e-18,-3.683815232382176e-18,-2.750818823741093e-07],"qvel":[-1.8361216835566885e-12,3.157592765886121e-14,-8.204267196664927e-13,-1.8657412502135455e-12,-3.1856239328237276e-12,1.6502014756836452e-14,-7.942885827370686e-10,-3.8927479004465985e-09,3.896285483141897e-09,2.558256426547803e-10,7.479504155923545e-10,2.500803634476077e-09,-2.3900362972337134e-09,-2.1338993728970813e-10,-5.507001843986906e-19,1.1354958218679637e-17,1.161517552959048e-14,1.944544324298775e-15,6.19615626307396e-16,-6.169240099287539e-08],"joint_position_rad":[-1.98279671555741,-1.5377242490709053,1.2717620441197344,-1.3048341218437487,-1.5707963267949234,-0.4120003887625136],"joint_velocity_rad_s":[-1.8361216835566885e-12,3.157592765886121e-14,-8.204267196664927e-13,-1.8657412502135455e-12,-3.1856239328237276e-12,1.6502014756836452e-14],"linkage_position_rad":[0.0029336111696070914,0.00015630155269310774,0.0031934794768774424,-0.003429298942219492,0.0029336110761326835,0.0001563011142482797,0.003197849381181824,-0.0034379968904310453],"tcp_position_m":[0.07433918934878991,0.5047373576544976,0.4350000000000068],"tcp_quaternion_wxyz":[8.273608032015351e-15,0.7071067811865471,0.7071067811865476,1.5469171939866408e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999623,4.844059825644426e-18,-3.683815232382176e-18,-2.750818823741093e-07],"object_linear_velocity_m_s":[-5.507001843986906e-19,1.1354958218679637e-17,1.161517552959048e-14],"object_angular_velocity_rad_s":[1.944544665643074e-15,6.196145570871594e-16,-6.16924009928754e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221257855,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835368,1.2616190686877204,-1.3096608189181114,-1.5707950771321897,-0.4120003887625101,0.0],"actuator_force":[7.394191925413907e-10,-21.685375225275948,-20.285950863699327,-2.413348536994704,0.0006248316855135272,8.526512829121202e-14,-0.2933611120552979],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197366,-1.3048341218437385,-1.5707963267948968,-0.4120003887625115],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.37999999999948,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197366,-1.3048341218437385,-1.5707963267948968,-0.4120003887625115],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.399999999999505,"qpos":[-1.9827967155574031,-1.5377242490709053,1.2717620441197366,-1.3048341218437376,-1.570796326794898,-0.4120003887625136,0.002933611173991709,0.00015630157450630862,0.003193479455451574,-0.0034292989430831514,0.0029336110723915685,0.00015630110026134363,0.0031978493944540315,-0.003437996889474682,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999623,9.314875746476542e-18,-1.6361037623260772e-18,-2.7531580124186647e-07],"qvel":[1.3393715438848483e-12,7.408958670448652e-14,5.177474789373204e-13,1.4455044455759941e-12,2.6686816045320115e-12,1.0977231632725037e-14,1.0217883780146543e-09,4.535538310555178e-09,-4.596599211286203e-09,-1.6395722900041697e-10,-9.67639968105162e-10,-2.9299913786022088e-09,2.8119587881670187e-09,2.318435875049298e-10,2.1190385737950004e-18,9.861356732562949e-18,1.1541623254209064e-14,-2.872186775827025e-16,9.683642935217596e-17,-6.6761931536008074e-09],"joint_position_rad":[-1.9827967155574031,-1.5377242490709053,1.2717620441197366,-1.3048341218437376,-1.570796326794898,-0.4120003887625136],"joint_velocity_rad_s":[1.3393715438848483e-12,7.408958670448652e-14,5.177474789373204e-13,1.4455044455759941e-12,2.6686816045320115e-12,1.0977231632725037e-14],"linkage_position_rad":[0.002933611173991709,0.00015630157450630862,0.003193479455451574,-0.0034292989430831514,0.0029336110723915685,0.00015630110026134363,0.0031978493944540315,-0.003437996889474682],"tcp_position_m":[0.07433918934877938,0.5047373576544979,0.4350000000000048],"tcp_quaternion_wxyz":[-1.1718182271484928e-15,0.7071067811865448,0.7071067811865499,4.840597184916476e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999623,9.314875746476542e-18,-1.6361037623260772e-18,-2.7531580124186647e-07],"object_linear_velocity_m_s":[2.1190385737950004e-18,9.861356732562949e-18,1.1541623254209064e-14],"object_angular_velocity_rad_s":[-2.872186242396148e-16,9.683658762821783e-17,-6.676193153600809e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221322159,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.548566936683537,1.2616190686877211,-1.3096608189181125,-1.5707950771321904,-0.4120003887625115,0.0],"actuator_force":[-5.443325790110976e-10,-21.685375225293228,-20.285950864237748,-2.413348537331899,0.0006248310869523266,-5.684341886080802e-14,-0.29336111258990594],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625106],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.399999999999505,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.41999999999953,"qpos":[-1.9827967155574064,-1.5377242490709053,1.2717620441197357,-1.3048341218437418,-1.570796326794904,-0.4120003887625136,0.0029336111716630167,0.00015630156321719195,0.0031934794664601474,-0.0034292989423890716,0.0029336110745592,0.00015630110757445845,0.003197849387747965,-0.0034379968902035554,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999623,2.5527297411392445e-17,6.994084164025274e-18,-2.757566293443518e-07],"qvel":[1.674299550958514e-12,5.032898222075595e-14,5.855541925970599e-13,2.696788713232257e-12,5.915442446374935e-12,1.9621626956625467e-14,7.131674388952861e-10,3.918259581788455e-09,-3.764482855809973e-09,-3.167641674183658e-10,-5.702666339072621e-10,-2.5369434581809155e-09,2.412635680842813e-09,2.165677443383955e-10,-1.008085193602185e-17,3.865366416893569e-17,1.1512479899812653e-14,5.127364882038612e-16,2.7371636776482125e-16,-2.6836201590689263e-08],"joint_position_rad":[-1.9827967155574064,-1.5377242490709053,1.2717620441197357,-1.3048341218437418,-1.570796326794904,-0.4120003887625136],"joint_velocity_rad_s":[1.674299550958514e-12,5.032898222075595e-14,5.855541925970599e-13,2.696788713232257e-12,5.915442446374935e-12,1.9621626956625467e-14],"linkage_position_rad":[0.0029336111716630167,0.00015630156321719195,0.0031934794664601474,-0.0034292989423890716,0.0029336110745592,0.00015630110757445845,0.003197849387747965,-0.0034379968902035554],"tcp_position_m":[0.07433918934878302,0.504737357654498,0.4350000000000056],"tcp_quaternion_wxyz":[8.347428841812213e-16,0.7071067811865461,0.7071067811865486,8.25235139695731e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999623,2.5527297411392445e-17,6.994084164025274e-18,-2.757566293443518e-07],"object_linear_velocity_m_s":[-1.008085193602185e-17,3.865366416893569e-17,1.1512479899812653e-14],"object_angular_velocity_rad_s":[5.127366387866005e-16,2.737160863539198e-16,-2.6836201590689276e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221288178,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877207,-1.3096608189181111,-1.5707950771321897,-0.4120003887625106,0.0],"actuator_force":[-6.72116584610194e-10,-21.685375225284133,-20.285950864264123,-2.4133485374543397,0.00062483076578701,-4.831690603168681e-13,-0.29336111302561485],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.4120003887625105],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.41999999999953,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.4120003887625105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.439999999999554,"qpos":[-1.98279671555741,-1.5377242490709053,1.2717620441197344,-1.3048341218437476,-1.5707963267949174,-0.4120003887625136,0.0029336111694115005,0.00015630155246701736,0.003193479477377327,-0.003429298942393658,0.002933611076483679,0.00015630111438174607,0.003197849381052243,-0.0034379968904285465,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999623,1.951395951406595e-17,5.8766973737538086e-18,-2.7591086856137533e-07],"qvel":[2.6795024609135504e-13,1.8842717077112234e-14,-8.235469940268441e-14,1.8327614493210406e-12,5.158532106161119e-12,2.2357514482923406e-14,-5.6248496922920536e-11,2.6746203297402726e-10,-7.329815657722283e-11,-1.0705740425673408e-10,2.1416570021821146e-10,-1.9148134656912904e-10,2.2549262201493683e-10,-1.8106553628258765e-11,-3.160761372658761e-17,5.140944249137814e-17,1.1416723163938734e-14,-2.5247075399207825e-17,8.214801399993456e-16,-1.0787310960697711e-07],"joint_position_rad":[-1.98279671555741,-1.5377242490709053,1.2717620441197344,-1.3048341218437476,-1.5707963267949174,-0.4120003887625136],"joint_velocity_rad_s":[2.6795024609135504e-13,1.8842717077112234e-14,-8.235469940268441e-14,1.8327614493210406e-12,5.158532106161119e-12,2.2357514482923406e-14],"linkage_position_rad":[0.0029336111694115005,0.00015630155246701736,0.003193479477377327,-0.003429298942393658,0.002933611076483679,0.00015630111438174607,0.003197849381052243,-0.0034379968904285465],"tcp_position_m":[0.07433918934878844,0.5047373576544982,0.4350000000000067],"tcp_quaternion_wxyz":[5.628706555502233e-15,0.7071067811865471,0.7071067811865476,1.4039936638667705e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999623,1.951395951406595e-17,5.8766973737538086e-18,-2.7591086856137533e-07],"object_linear_velocity_m_s":[-3.160761372658761e-17,5.140944249137814e-17,1.1416723163938734e-14],"object_angular_velocity_rad_s":[-2.5246623356480205e-17,8.214801581411694e-16,-1.0787310960697718e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221255526,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877211,-1.3096608189181114,-1.57079507713219,-0.4120003887625105,0.0],"actuator_force":[-1.0277290130034089e-10,-21.685375225271855,-20.28595086399355,-2.4133485373650956,0.0006248308479825937,-7.105427357601002e-13,-0.293361113084345],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.4120003887625111],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.439999999999554,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.4120003887625111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.459999999999578,"qpos":[-1.9827967155574096,-1.5377242490709053,1.2717620441197348,-1.3048341218437494,-1.5707963267949234,-0.4120003887625136,0.002933611171780859,0.00015630156208901815,0.0031934794671982566,-0.003429298941968229,0.0029336110739137467,0.00015630110838637574,0.003197849386535034,-0.0034379968900593244,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999623,1.2969307480219152e-17,5.03604539168094e-18,-2.763198906654692e-07],"qvel":[-5.858234392301924e-12,2.859182378277759e-14,-1.7506211606201633e-12,-1.1353676655219949e-11,-2.6519513185559707e-11,-1.2181768580778529e-14,-2.105762678747775e-09,-1.2092553795850774e-08,1.1341114898681733e-08,1.192583593745077e-09,1.4145771103825872e-09,7.910613209583388e-09,-7.675655622864e-09,-6.130550849948891e-10,-8.980840427963592e-18,1.9887832536080168e-17,1.1315415312941687e-14,-9.47047354319465e-16,-3.583213003447616e-16,-1.1673750806020339e-08],"joint_position_rad":[-1.9827967155574096,-1.5377242490709053,1.2717620441197348,-1.3048341218437494,-1.5707963267949234,-0.4120003887625136],"joint_velocity_rad_s":[-5.858234392301924e-12,2.859182378277759e-14,-1.7506211606201633e-12,-1.1353676655219949e-11,-2.6519513185559707e-11,-1.2181768580778529e-14],"linkage_position_rad":[0.002933611171780859,0.00015630156208901815,0.0031934794671982566,-0.003429298941968229,0.0029336110739137467,0.00015630110838637574,0.003197849386535034,-0.0034379968900593244],"tcp_position_m":[0.07433918934878989,0.5047373576544976,0.4350000000000066],"tcp_quaternion_wxyz":[8.276022778964033e-15,0.707106781186547,0.7071067811865477,1.5739618235145985e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999623,1.2969307480219152e-17,5.03604539168094e-18,-2.763198906654692e-07],"object_linear_velocity_m_s":[-8.980840427963592e-18,1.9887832536080168e-17,1.1315415312941687e-14],"object_angular_velocity_rad_s":[-9.470475524595053e-16,-3.583207766658634e-16,-1.1673750806020349e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221289954,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.261619068687721,-1.3096608189181118,-1.5707950771321901,-0.4120003887625111,0.0],"actuator_force":[2.3469510779250413e-09,-21.685375225275493,-20.285950863327344,-2.41334853604576,0.0006248340187084978,2.4726887204451486e-12,-0.29336110882880245],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437378,-1.5707963267948966,-0.41200038876251066],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.459999999999578,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437378,-1.5707963267948966,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.479999999999603,"qpos":[-1.9827967155574049,-1.5377242490709053,1.2717620441197361,-1.3048341218437398,-1.5707963267948997,-0.4120003887625136,0.0029336111724554397,0.0001563015673826491,0.0031934794624543625,-0.0034292989427746937,0.0029336110738688763,0.00015630110488862732,0.0031978493902413436,-0.003437996889909803,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999623,4.136062675032607e-18,-2.6846343965043598e-19,-2.766980791442939e-07],"qvel":[1.6922105549795413e-12,6.85328788996364e-14,6.338977623311784e-13,2.2153070521373185e-12,4.470058776200735e-12,1.7006009464987274e-14,9.156082172327765e-10,4.578830897345919e-09,-4.488487674847436e-09,-3.108414390202911e-10,-8.150044782282569e-10,-2.960575996617218e-09,2.796884765407112e-09,2.700604129257426e-10,3.153893935278849e-18,9.31321205227481e-18,1.1264067498052776e-14,-7.525454820429549e-16,-3.575324762250733e-16,-4.692481519661927e-08],"joint_position_rad":[-1.9827967155574049,-1.5377242490709053,1.2717620441197361,-1.3048341218437398,-1.5707963267948997,-0.4120003887625136],"joint_velocity_rad_s":[1.6922105549795413e-12,6.85328788996364e-14,6.338977623311784e-13,2.2153070521373185e-12,4.470058776200735e-12,1.7006009464987274e-14],"linkage_position_rad":[0.0029336111724554397,0.0001563015673826491,0.0031934794624543625,-0.0034292989427746937,0.0029336110738688763,0.00015630110488862732,0.0031978493902413436,-0.003437996889909803],"tcp_position_m":[0.0743391893487809,0.5047373576544981,0.43500000000000505],"tcp_quaternion_wxyz":[-7.830043035833404e-16,0.7071067811865456,0.7071067811865491,6.334054981333529e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999623,4.136062675032607e-18,-2.6846343965043598e-19,-2.766980791442939e-07],"object_linear_velocity_m_s":[3.153893935278849e-18,9.31321205227481e-18,1.1264067498052776e-14],"object_angular_velocity_rad_s":[-7.525456798747438e-16,-3.575320593810723e-16,-4.6924815196619325e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322130049,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.2616190686877207,-1.3096608189181118,-1.57079507713219,-0.41200038876251066,0.0],"actuator_force":[-6.821210263296962e-10,-21.685375225290954,-20.285950864284587,-2.4133485374075008,0.0006248309078955572,-2.5579538487363607e-13,-0.2933611128192345],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.271762044119736,-1.3048341218437371,-1.5707963267948966,-0.4120003887625108],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.479999999999603,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.271762044119736,-1.3048341218437371,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.499999999999627,"qpos":[-1.9827967155574087,-1.5377242490709053,1.2717620441197346,-1.304834121843745,-1.5707963267949105,-0.4120003887625136,0.0029336111697091287,0.0001563015547882412,0.003193479475350168,-0.003429298942757222,0.0029336110763737715,0.00015630111288630978,0.0031978493824593294,-0.003437996890267484,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999623,9.007390249773635e-19,-2.8000036366656832e-18,-2.768760038070377e-07],"qvel":[1.3893238455232712e-12,3.268904135787133e-14,4.0720846373525653e-13,2.9864881199885003e-12,7.14265387010702e-12,2.1018044017894736e-14,4.3605157566904223e-10,2.8106536092371163e-09,-2.5845386842271963e-09,-2.895700888293462e-10,-2.470577850587721e-10,-1.822853445196925e-09,1.7545165634605198e-09,1.3578551838345704e-10,1.5412831724406065e-18,2.5624744253343228e-18,1.1165535204617293e-14,-1.8748495433127611e-16,-1.6350015659091153e-16,-5.07808295523954e-09],"joint_position_rad":[-1.9827967155574087,-1.5377242490709053,1.2717620441197346,-1.304834121843745,-1.5707963267949105,-0.4120003887625136],"joint_velocity_rad_s":[1.3893238455232712e-12,3.268904135787133e-14,4.0720846373525653e-13,2.9864881199885003e-12,7.14265387010702e-12,2.1018044017894736e-14],"linkage_position_rad":[0.0029336111697091287,0.0001563015547882412,0.003193479475350168,-0.003429298942757222,0.0029336110763737715,0.00015630111288630978,0.0031978493824593294,-0.003437996890267484],"tcp_position_m":[0.0743391893487858,0.504737357654498,0.4350000000000065],"tcp_quaternion_wxyz":[2.94262377483733e-15,0.7071067811865462,0.707106781186548,1.1478345424342853e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999623,9.007390249773635e-19,-2.8000036366656832e-18,-2.768760038070377e-07],"object_linear_velocity_m_s":[1.5412831724406065e-18,2.5624744253343228e-18,1.1165535204617293e-14],"object_angular_velocity_rad_s":[-1.8748504484135026e-16,-1.6350005276156876e-16,-5.078082955239546e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221261144,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.548566936683537,1.2616190686877204,-1.309660818918111,-1.5707950771321895,-0.4120003887625108,0.0],"actuator_force":[-5.543370207305998e-10,-21.685375225276857,-20.28595086419091,-2.4133485374816246,0.0006248306463021436,-7.389644451905042e-13,-0.29336111324911396],"issued_joint_targets_rad":[-1.982796715557408,-1.5377242490708956,1.271762044119736,-1.3048341218437374,-1.5707963267948966,-0.4120003887625107],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.499999999999627,"joint_targets_rad":[-1.982796715557408,-1.5377242490708956,1.271762044119736,-1.3048341218437374,-1.5707963267948966,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.51999999999965,"qpos":[-1.982796715557412,-1.5377242490709053,1.2717620441197337,-1.3048341218437518,-1.570796326794927,-0.4120003887625136,0.0029336111707209053,0.00015630155654136548,0.003193479472667016,-0.003429298941561917,0.0029336110749248116,0.00015630111196957816,0.003197849383221092,-0.0034379968904144206,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999623,-4.148864739254303e-18,-2.7160255992061114e-19,-2.773110432924644e-07],"qvel":[-2.1726087216002526e-12,-9.979988900276936e-16,-9.626728409606759e-13,-1.9897478344972448e-12,-3.1735001313267255e-12,1.4476078970255294e-14,-9.404790272975371e-10,-5.1301202268831405e-09,4.976923826106733e-09,4.732079501344557e-10,8.953356019806136e-10,3.313578193801313e-09,-3.0234799992570925e-09,-3.819450254196546e-10,-3.8617639783664233e-19,-4.376620243223951e-18,1.1055900680935558e-14,-9.877470496118388e-17,2.6104195236618857e-17,-2.0412300055680006e-08],"joint_position_rad":[-1.982796715557412,-1.5377242490709053,1.2717620441197337,-1.3048341218437518,-1.570796326794927,-0.4120003887625136],"joint_velocity_rad_s":[-2.1726087216002526e-12,-9.979988900276936e-16,-9.626728409606759e-13,-1.9897478344972448e-12,-3.1735001313267255e-12,1.4476078970255294e-14],"linkage_position_rad":[0.0029336111707209053,0.00015630155654136548,0.003193479472667016,-0.003429298941561917,0.0029336110749248116,0.00015630111196957816,0.003197849383221092,-0.0034379968904144206],"tcp_position_m":[0.07433918934879226,0.5047373576544979,0.43500000000000755],"tcp_quaternion_wxyz":[9.150939761067435e-15,0.7071067811865481,0.7071067811865468,1.8052245997488834e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999623,-4.148864739254303e-18,-2.7160255992061114e-19,-2.773110432924644e-07],"object_linear_velocity_m_s":[-3.8617639783664233e-19,-4.376620243223951e-18,1.1055900680935558e-14],"object_angular_velocity_rad_s":[-9.877469047211757e-17,2.61042498498721e-17,-2.0412300055680032e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221272696,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557408,-1.5485669366835373,1.2616190686877204,-1.3096608189181114,-1.57079507713219,-0.4120003887625107,0.0],"actuator_force":[8.767528925091028e-10,-21.68537522526367,-20.28595086364112,-2.413348536980834,0.0006248316858545877,-2.842170943040401e-14,-0.2933611120565688],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437374,-1.5707963267948968,-0.4120003887625111],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.51999999999965,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437374,-1.5707963267948968,-0.4120003887625111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.539999999999676,"qpos":[-1.9827967155574036,-1.5377242490709053,1.2717620441197364,-1.3048341218437383,-1.5707963267948974,-0.4120003887625136,0.002933611173383905,0.00015630157180431887,0.003193479458131731,-0.003429298943109974,0.002933611073004481,0.00015630110202054007,0.003197849392908288,-0.003437996889603103,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999623,-4.590710525388432e-18,-1.786405383933792e-17,-2.7757856539489244e-07],"qvel":[1.4903150540318783e-12,8.036263234214214e-14,5.783892136755234e-13,1.615484151237616e-12,2.9498482489314064e-12,1.3056232932785712e-14,1.0439136593432229e-09,4.8051705185328075e-09,-4.790334506383534e-09,-2.616285515903571e-10,-9.821886309356705e-10,-3.1053555102329988e-09,2.933026213207886e-09,2.8755982859541863e-10,9.57785774087946e-17,-6.3568849399415195e-18,1.1029532884100706e-14,-4.731700965959995e-16,-7.647059914193081e-15,-8.205104115780576e-08],"joint_position_rad":[-1.9827967155574036,-1.5377242490709053,1.2717620441197364,-1.3048341218437383,-1.5707963267948974,-0.4120003887625136],"joint_velocity_rad_s":[1.4903150540318783e-12,8.036263234214214e-14,5.783892136755234e-13,1.615484151237616e-12,2.9498482489314064e-12,1.3056232932785712e-14],"linkage_position_rad":[0.002933611173383905,0.00015630157180431887,0.003193479458131731,-0.003429298943109974,0.002933611073004481,0.00015630110202054007,0.003197849392908288,-0.003437996889603103],"tcp_position_m":[0.07433918934877949,0.5047373576544979,0.43500000000000505],"tcp_quaternion_wxyz":[-1.575400037732012e-15,0.7071067811865448,0.7071067811865499,5.084100773457259e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999623,-4.590710525388432e-18,-1.786405383933792e-17,-2.7757856539489244e-07],"object_linear_velocity_m_s":[9.57785774087946e-17,-6.3568849399415195e-18,1.1029532884100706e-14],"object_angular_velocity_rad_s":[-4.7317433898424e-16,-7.647059652261508e-15,-8.205104115780589e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322131371,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.2616190686877204,-1.3096608189181114,-1.5707950771321901,-0.4120003887625111,0.0],"actuator_force":[-6.043592293281108e-10,-21.685375225295957,-20.285950864263214,-2.4133485373480426,0.000624831058644304,-5.684341886080802e-14,-0.2933611126280444],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197368,-1.3048341218437378,-1.5707963267948966,-0.41200038876251077],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.539999999999676,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197368,-1.3048341218437378,-1.5707963267948966,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.5599999999997,"qpos":[-1.9827967155574069,-1.5377242490709053,1.271762044119735,-1.304834121843742,-1.5707963267949052,-0.4120003887625136,0.00293361117033738,0.00015630155855696153,0.003193479471854255,-0.00342929894318931,0.002933611075903501,0.00015630111044641495,0.0031978493847220632,-0.003437996890009604,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999623,-4.7695891781564774e-18,-3.669240820330317e-17,-2.7788967804956345e-07],"qvel":[1.8352063536685183e-12,5.260210422406311e-14,6.520040212267013e-13,2.948920485649009e-12,6.4651702125498244e-12,1.918369747502025e-14,7.68347490993433e-10,4.261078985632596e-09,-4.075261560018324e-09,-3.566539986991377e-10,-6.106893540169122e-10,-2.7479222129460297e-09,2.6014478875072874e-09,2.4012432246470913e-10,4.102539183388768e-17,-5.114750613881871e-18,1.0846346085037554e-14,2.1108668653591593e-16,6.262371431182533e-16,-8.879352892861843e-09],"joint_position_rad":[-1.9827967155574069,-1.5377242490709053,1.271762044119735,-1.304834121843742,-1.5707963267949052,-0.4120003887625136],"joint_velocity_rad_s":[1.8352063536685183e-12,5.260210422406311e-14,6.520040212267013e-13,2.948920485649009e-12,6.4651702125498244e-12,1.918369747502025e-14],"linkage_position_rad":[0.00293361117033738,0.00015630155855696153,0.003193479471854255,-0.00342929894318931,0.002933611075903501,0.00015630111044641495,0.0031978493847220632,-0.003437996890009604],"tcp_position_m":[0.07433918934878347,0.5047373576544979,0.43500000000000594],"tcp_quaternion_wxyz":[1.1522725710149498e-15,0.7071067811865461,0.7071067811865486,8.805394952593604e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999623,-4.7695891781564774e-18,-3.669240820330317e-17,-2.7788967804956345e-07],"object_linear_velocity_m_s":[4.102539183388768e-17,-5.114750613881871e-18,1.0846346085037554e-14],"object_angular_velocity_rad_s":[2.1108703523716951e-16,6.26237025715833e-16,-8.87935289286186e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221271534,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835373,1.2616190686877213,-1.3096608189181116,-1.5707950771321897,-0.41200038876251077,0.0],"actuator_force":[-7.357812137342989e-10,-21.685375225285043,-20.285950864288225,-2.413348537479692,0.0006248307113310148,-5.115907697472721e-13,-0.29336111310033475],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197368,-1.3048341218437376,-1.5707963267948968,-0.41200038876251044],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.5599999999997,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197368,-1.3048341218437376,-1.5707963267948968,-0.41200038876251044],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.579999999999725,"qpos":[-1.9827967155574118,-1.5377242490709053,1.271762044119734,-1.3048341218437496,-1.570796326794923,-0.4120003887625136,0.002933611170398474,0.0001563015554117255,0.0031934794739446343,-0.003429298941579104,0.002933611075413414,0.0001563011126861027,0.0031978493826381855,-0.0034379968905548725,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999623,-2.2734207281006058e-17,-6.620519711401063e-17,-2.782773610529694e-07],"qvel":[1.425066741396465e-13,-5.6798712304451e-15,-1.4874070304575965e-13,1.958420930768991e-12,5.679919757306277e-12,2.3895080597979232e-14,-1.8858132332113005e-10,-6.500587026767347e-10,7.315164295407407e-10,5.303704519848168e-11,3.5682202972263193e-10,4.0156253011706974e-10,-2.2541062694732468e-10,-1.5668309214277383e-10,1.0064507654111741e-16,-4.3666950118835415e-17,1.0793610491367863e-14,-1.447543803726049e-15,-2.073946855731211e-15,-3.569221242484055e-08],"joint_position_rad":[-1.9827967155574118,-1.5377242490709053,1.271762044119734,-1.3048341218437496,-1.570796326794923,-0.4120003887625136],"joint_velocity_rad_s":[1.425066741396465e-13,-5.6798712304451e-15,-1.4874070304575965e-13,1.958420930768991e-12,5.679919757306277e-12,2.3895080597979232e-14],"linkage_position_rad":[0.002933611170398474,0.0001563015554117255,0.0031934794739446343,-0.003429298941579104,0.002933611075413414,0.0001563011126861027,0.0031978493826381855,-0.0034379968905548725],"tcp_position_m":[0.07433918934879086,0.5047373576544977,0.4350000000000072],"tcp_quaternion_wxyz":[7.79485029930017e-15,0.7071067811865479,0.7071067811865466,1.6252067325871505e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999623,-2.2734207281006058e-17,-6.620519711401063e-17,-2.782773610529694e-07],"object_linear_velocity_m_s":[1.0064507654111741e-16,-4.3666950118835415e-17,1.0793610491367863e-14],"object_angular_velocity_rad_s":[-1.4475449532647239e-15,-2.0739460517164237e-15,-3.5692212424840625e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322126774,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877213,-1.3096608189181114,-1.57079507713219,-0.41200038876251044,0.0],"actuator_force":[-4.865796654485166e-11,-21.68537522526185,-20.285950863965354,-2.4133485373768053,0.0006248307986425061,-8.242295734817162e-13,-0.29336111313179797],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.271762044119736,-1.3048341218437374,-1.5707963267948968,-0.4120003887625113],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.579999999999725,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.271762044119736,-1.3048341218437374,-1.5707963267948968,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.59999999999975,"qpos":[-1.9827967155574096,-1.5377242490709053,1.2717620441197346,-1.30483412184375,-1.5707963267949276,-0.4120003887625136,0.002933611170937861,0.0001563015581870528,0.0031934794710411344,-0.003429298941980667,0.002933611074698834,0.00015630111089804088,0.0031978493842488042,-0.0034379968901920173,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999623,-2.0671271363581174e-17,-5.3819844838715985e-17,-2.7841269509385273e-07],"qvel":[-6.306969706508186e-12,2.7595096602610852e-14,-1.8971147897935555e-12,-1.2266818170870774e-11,-2.863967482757815e-11,-1.5431498909711233e-14,-2.3338703210578272e-09,-1.3267957884435209e-08,1.2489576188948217e-08,1.2099708317441813e-09,1.5799752367065645e-09,8.636806162116391e-09,-8.387979371894896e-09,-6.202834809323628e-10,6.374544566334144e-17,-2.4738085291483247e-17,1.0764467136971451e-14,9.89720595688157e-16,2.6439993639913826e-15,-3.862519538755517e-09],"joint_position_rad":[-1.9827967155574096,-1.5377242490709053,1.2717620441197346,-1.30483412184375,-1.5707963267949276,-0.4120003887625136],"joint_velocity_rad_s":[-6.306969706508186e-12,2.7595096602610852e-14,-1.8971147897935555e-12,-1.2266818170870774e-11,-2.863967482757815e-11,-1.5431498909711233e-14],"linkage_position_rad":[0.002933611170937861,0.0001563015581870528,0.0031934794710411344,-0.003429298941980667,0.002933611074698834,0.00015630111089804088,0.0031978493842488042,-0.0034379968901920173],"tcp_position_m":[0.07433918934879098,0.5047373576544972,0.43500000000000694],"tcp_quaternion_wxyz":[1.0119513922410373e-14,0.707106781186547,0.7071067811865477,1.6857519356533832e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999623,-2.0671271363581174e-17,-5.3819844838715985e-17,-2.7841269509385273e-07],"object_linear_velocity_m_s":[6.374544566334144e-17,-2.4738085291483247e-17,1.0764467136971451e-14],"object_angular_velocity_rad_s":[9.897220683497433e-16,2.643998812729735e-15,-3.862519538755525e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221278125,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835373,1.2616190686877204,-1.3096608189181114,-1.5707950771321904,-0.4120003887625113,0.0],"actuator_force":[2.526121534174308e-09,-21.68537522527504,-20.285950863269136,-2.4133485359540146,0.0006248342326671263,2.6716406864579767e-12,-0.29336110851235936],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.59999999999975,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.619999999999774,"qpos":[-1.9827967155574047,-1.5377242490709053,1.271762044119736,-1.304834121843739,-1.5707963267949008,-0.4120003887625136,0.002933611171192034,0.00015630156309194012,0.0031934794675095735,-0.003429298943616357,0.0029336110751612622,0.00015630110754415944,0.003197849387411261,-0.0034379968896824094,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999611,-1.843492937068759e-17,-6.662790476468897e-17,-2.7889423601563786e-07],"qvel":[1.8521314623716595e-12,7.112264324538591e-14,7.00099968084749e-13,2.423231337730577e-12,4.890274472724539e-12,1.8831901429615752e-14,9.900054299345312e-10,4.983994923821123e-09,-4.869279158240295e-09,-3.4855413305040795e-10,-8.788636682563661e-10,-3.2102334045700706e-09,3.0210798958598875e-09,2.976168061777747e-10,8.610574094814304e-17,-2.0888938040942192e-17,1.1511092121031868e-14,4.473737905801969e-16,1.8557973137821585e-15,-1.5526116546533395e-08],"joint_position_rad":[-1.9827967155574047,-1.5377242490709053,1.271762044119736,-1.304834121843739,-1.5707963267949008,-0.4120003887625136],"joint_velocity_rad_s":[1.8521314623716595e-12,7.112264324538591e-14,7.00099968084749e-13,2.423231337730577e-12,4.890274472724539e-12,1.8831901429615752e-14],"linkage_position_rad":[0.002933611171192034,0.00015630156309194012,0.0031934794675095735,-0.003429298943616357,0.0029336110751612622,0.00015630110754415944,0.003197849387411261,-0.0034379968896824094],"tcp_position_m":[0.0743391893487808,0.5047373576544977,0.43500000000000527],"tcp_quaternion_wxyz":[-1.756569701901297e-16,0.7071067811865452,0.7071067811865495,6.294316915602436e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999611,-1.843492937068759e-17,-6.662790476468897e-17,-2.7889423601563786e-07],"object_linear_velocity_m_s":[8.610574094814304e-17,-2.0888938040942192e-17,1.1511092121031868e-14],"object_angular_velocity_rad_s":[4.473748277914204e-16,1.8557970636694804e-15,-1.5526116546533395e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221285011,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.261619068687721,-1.3096608189181114,-1.57079507713219,-0.41200038876251033,0.0],"actuator_force":[-7.466951501555741e-10,-21.685375225293228,-20.285950864310053,-2.413348537428419,0.0006248308663998614,-2.5579538487363607e-13,-0.29336111287337363],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625106],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.619999999999774,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.639999999999798,"qpos":[-1.98279671555741,-1.5377242490709053,1.2717620441197346,-1.3048341218437458,-1.570796326794915,-0.4120003887625136,0.0029336111705811525,0.00015630155707357463,0.0031934794725038155,-0.0034292989418192826,0.0029336110754295476,0.00015630111161405954,0.003197849383731543,-0.003437996890502693,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999611,-1.5488649107418735e-17,-6.294790303980674e-17,-2.791980329991353e-07],"qvel":[1.3954798053940534e-12,1.2056080666297593e-14,3.9443470868382957e-13,3.2069762627095194e-12,7.79748191105549e-12,2.3297498467133342e-14,3.1442922196582875e-10,2.1252673302529505e-09,-1.976482949471536e-09,-1.7734745925504214e-10,-1.1342800688850004e-10,-1.3886446587710052e-09,1.4301482615145958e-09,2.588182792508375e-11,1.181246596778267e-16,-2.215910741728588e-17,1.1712320044245178e-14,-3.807057204400161e-16,-2.234192895221881e-15,-6.24101166603287e-08],"joint_position_rad":[-1.98279671555741,-1.5377242490709053,1.2717620441197346,-1.3048341218437458,-1.570796326794915,-0.4120003887625136],"joint_velocity_rad_s":[1.3954798053940534e-12,1.2056080666297593e-14,3.9443470868382957e-13,3.2069762627095194e-12,7.79748191105549e-12,2.3297498467133342e-14],"linkage_position_rad":[0.0029336111705811525,0.00015630155707357463,0.0031934794725038155,-0.0034292989418192826,0.0029336110754295476,0.00015630111161405954,0.003197849383731543,-0.003437996890502693],"tcp_position_m":[0.07433918934878767,0.5047373576544977,0.4350000000000065],"tcp_quaternion_wxyz":[4.904785806538792e-15,0.7071067811865471,0.7071067811865476,1.2557908188117447e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999611,-1.5488649107418735e-17,-6.294790303980674e-17,-2.791980329991353e-07],"object_linear_velocity_m_s":[1.181246596778267e-16,-2.215910741728588e-17,1.1712320044245178e-14],"object_angular_velocity_rad_s":[-3.807069601473088e-16,-2.2341926845702554e-15,-6.241011666032871e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221271157,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.548566936683537,1.261619068687721,-1.3096608189181114,-1.5707950771321897,-0.4120003887625106,0.0],"actuator_force":[-5.538822733797133e-10,-21.685375225268672,-20.285950864184997,-2.4133485375034525,0.0006248305828648881,-8.526512829121202e-13,-0.29336111330554104],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197368,-1.3048341218437383,-1.5707963267948966,-0.4120003887625104],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.639999999999798,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197368,-1.3048341218437383,-1.5707963267948966,-0.4120003887625104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.659999999999823,"qpos":[-1.9827967155574118,-1.5377242490709053,1.2717620441197337,-1.304834121843752,-1.5707963267949296,-0.4120003887625136,0.002933611169746836,0.00015630155206164333,0.003193479477113347,-0.0034292989416197022,0.002933611075840027,0.0001563011148357833,0.0031978493805852404,-0.0034379968905416812,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999611,-1.1055008537992804e-17,-5.249184452998515e-17,-2.794346732269563e-07],"qvel":[-2.314966651069787e-12,-3.878226959541792e-15,-1.0283299542125912e-12,-2.1286285658507947e-12,-3.366730952271912e-12,1.6242558924481448e-14,-1.0658878291647738e-09,-5.68122388884193e-09,5.562827953944455e-09,4.3153882438821854e-10,1.019112423576512e-09,3.646567163282847e-09,-3.351147941571424e-09,-3.7592404362423233e-10,6.387819300479979e-17,-1.462502875360197e-17,1.1901057958431452e-14,8.09741388874469e-16,2.277872260697211e-15,-6.75386249939168e-09],"joint_position_rad":[-1.9827967155574118,-1.5377242490709053,1.2717620441197337,-1.304834121843752,-1.5707963267949296,-0.4120003887625136],"joint_velocity_rad_s":[-2.314966651069787e-12,-3.878226959541792e-15,-1.0283299542125912e-12,-2.1286285658507947e-12,-3.366730952271912e-12,1.6242558924481448e-14],"linkage_position_rad":[0.002933611169746836,0.00015630155206164333,0.003193479477113347,-0.0034292989416197022,0.002933611075840027,0.0001563011148357833,0.0031978493805852404,-0.0034379968905416812],"tcp_position_m":[0.0743391893487927,0.5047373576544977,0.4350000000000073],"tcp_quaternion_wxyz":[1.0370463921751223e-14,0.7071067811865481,0.7071067811865468,1.8624684759048318e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999611,-1.1055008537992804e-17,-5.249184452998515e-17,-2.794346732269563e-07],"object_linear_velocity_m_s":[6.387819300479979e-17,-1.462502875360197e-17,1.1901057958431452e-14],"object_angular_velocity_rad_s":[8.097426626163698e-16,2.2778718080078873e-15,-6.7538624993916836e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221258998,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835373,1.2616190686877213,-1.309660818918112,-1.5707950771321897,-0.4120003887625104,0.0],"actuator_force":[9.335963113699108e-10,-21.68537522526276,-20.285950863612925,-2.4133485369671916,0.000624831706659279,-2.842170943040401e-14,-0.29336111204546617],"issued_joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197357,-1.3048341218437371,-1.570796326794897,-0.4120003887625113],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.659999999999823,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197357,-1.3048341218437371,-1.570796326794897,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.679999999999847,"qpos":[-1.982796715557404,-1.5377242490709053,1.271762044119736,-1.3048341218437387,-1.5707963267948992,-0.4120003887625136,0.002933611173980384,0.0001563015729801304,0.003193479456218244,-0.0034292989420750754,0.0029336110723625574,0.00015630110140993974,0.0031978493937630755,-0.003437996890013849,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999611,-8.204197051339294e-18,-3.388015896130944e-17,-2.798806298255078e-07],"qvel":[1.6181478108668097e-12,7.444307371719317e-14,6.240931430704085e-13,1.8094713996801365e-12,3.3621627859738436e-12,1.2222525304505478e-14,9.491980942229108e-10,4.512361522513113e-09,-4.490634160313893e-09,-2.5591601252113814e-10,-8.807060497722678e-10,-2.9313241131327e-09,2.7880024391670903e-09,2.5084084799213223e-10,4.457010051798764e-17,-1.1732554426762185e-17,1.171093226546439e-14,3.591414215284891e-16,1.6418654746598529e-15,-2.7148407989308062e-08],"joint_position_rad":[-1.982796715557404,-1.5377242490709053,1.271762044119736,-1.3048341218437387,-1.5707963267948992,-0.4120003887625136],"joint_velocity_rad_s":[1.6181478108668097e-12,7.444307371719317e-14,6.240931430704085e-13,1.8094713996801365e-12,3.3621627859738436e-12,1.2222525304505478e-14],"linkage_position_rad":[0.002933611173980384,0.0001563015729801304,0.003193479456218244,-0.0034292989420750754,0.0029336110723625574,0.00015630110140993974,0.0031978493937630755,-0.003437996890013849],"tcp_position_m":[0.07433918934878023,0.504737357654498,0.43500000000000527],"tcp_quaternion_wxyz":[-8.964750479868757e-16,0.7071067811865451,0.7071067811865496,5.87404806566491e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999611,-8.204197051339294e-18,-3.388015896130944e-17,-2.798806298255078e-07],"object_linear_velocity_m_s":[4.457010051798764e-17,-1.1732554426762185e-17,1.171093226546439e-14],"object_angular_velocity_rad_s":[3.5914234242070393e-16,1.6418652731806797e-15,-2.714840798930808e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221319913,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835368,1.2616190686877202,-1.3096608189181111,-1.5707950771321906,-0.4120003887625113,0.0],"actuator_force":[-6.548361852765083e-10,-21.685375225292773,-20.28595086428095,-2.413348537367142,0.0006248310181717898,-8.526512829121202e-14,-0.2933611126596073],"issued_joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.41200038876251077],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.679999999999847,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.69999999999987,"qpos":[-1.9827967155574084,-1.5377242490709053,1.2717620441197348,-1.304834121843743,-1.5707963267949079,-0.4120003887625136,0.002933611171489669,0.0001563015610751545,0.0031934794680626875,-0.0034292989416705006,0.0029336110746711174,0.0001563011090597634,0.0031978493865856094,-0.0034379968905620113,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999611,-4.936364614608168e-18,-2.0429863843601175e-17,-2.800366634272661e-07],"qvel":[1.9327953466472493e-12,4.2030148623837424e-14,6.779129454336548e-13,3.202164826516231e-12,7.078135382094648e-12,2.008357761619331e-14,6.152137474411447e-10,3.661300949135958e-09,-3.4647506051723263e-09,-3.403996977969011e-10,-4.4541926238048535e-10,-2.3813700567678297e-09,2.283593323647506e-09,1.811163090361542e-10,5.299711139310409e-17,-4.3276197411596665e-17,1.1412559827596377e-14,-2.501248404238724e-15,-1.9771731860994587e-15,-1.0912808136386088e-07],"joint_position_rad":[-1.9827967155574084,-1.5377242490709053,1.2717620441197348,-1.304834121843743,-1.5707963267949079,-0.4120003887625136],"joint_velocity_rad_s":[1.9327953466472493e-12,4.2030148623837424e-14,6.779129454336548e-13,3.202164826516231e-12,7.078135382094648e-12,2.008357761619331e-14],"linkage_position_rad":[0.002933611171489669,0.0001563015610751545,0.0031934794680626875,-0.0034292989416705006,0.0029336110746711174,0.0001563011090597634,0.0031978493865856094,-0.0034379968905620113],"tcp_position_m":[0.07433918934878485,0.5047373576544977,0.43500000000000605],"tcp_quaternion_wxyz":[2.0674807630981053e-15,0.7071067811865462,0.707106781186548,9.766590088082619e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999611,-4.936364614608168e-18,-2.0429863843601175e-17,-2.800366634272661e-07],"object_linear_velocity_m_s":[5.299711139310409e-17,-4.3276197411596665e-17,1.1412559827596377e-14],"object_angular_velocity_rad_s":[-2.501249507141354e-15,-1.977171786294028e-15,-1.0912808136386095e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221283419,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835368,1.2616190686877207,-1.3096608189181111,-1.5707950771321897,-0.41200038876251077,0.0],"actuator_force":[-7.721610018052161e-10,-21.68537522528004,-20.28595086429914,-2.413348537504362,0.0006248306513043644,-6.252776074688882e-13,-0.29336111315701174],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948968,-0.4120003887625109],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.69999999999987,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948968,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.719999999999896,"qpos":[-1.982796715557412,-1.5377242490709053,1.271762044119733,-1.3048341218437498,-1.5707963267949236,-0.4120003887625136,0.002933611169420263,0.00015630155092128875,0.0031934794783851634,-0.003429298941669143,0.002933611076348914,0.00015630111547984953,0.0031978493801489566,-0.0034379968906840257,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999611,-1.2017604186950887e-17,-1.9356683477081713e-17,-2.804504440035171e-07],"qvel":[1.9544572605039407e-13,-9.778771352531525e-15,-1.408682937289167e-13,2.156244062063319e-12,6.204252083154318e-12,2.223131519853507e-14,-2.52690839566534e-10,-8.070909876141964e-10,9.67278633993444e-10,-2.395565095295151e-11,4.400150802856385e-10,4.864478177418464e-10,-3.2737182343721645e-10,-1.3380699613128297e-10,2.520285902457877e-17,-1.41790846247824e-17,1.1268230834395109e-14,1.4895194238743752e-16,9.776041173273676e-16,-1.1809560625648305e-08],"joint_position_rad":[-1.982796715557412,-1.5377242490709053,1.271762044119733,-1.3048341218437498,-1.5707963267949236,-0.4120003887625136],"joint_velocity_rad_s":[1.9544572605039407e-13,-9.778771352531525e-15,-1.408682937289167e-13,2.156244062063319e-12,6.204252083154318e-12,2.223131519853507e-14],"linkage_position_rad":[0.002933611169420263,0.00015630155092128875,0.0031934794783851634,-0.003429298941669143,0.002933611076348914,0.00015630111547984953,0.0031978493801489566,-0.0034379968906840257],"tcp_position_m":[0.07433918934879138,0.504737357654498,0.4350000000000076],"tcp_quaternion_wxyz":[7.977335153804835e-15,0.7071067811865481,0.7071067811865471,1.683265444682037e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999611,-1.2017604186950887e-17,-1.9356683477081713e-17,-2.804504440035171e-07],"object_linear_velocity_m_s":[2.520285902457877e-17,-1.41790846247824e-17,1.1268230834395109e-14],"object_angular_velocity_rad_s":[1.489524911836195e-16,9.776040334960927e-16,-1.1809560625648315e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221253053,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.261619068687721,-1.3096608189181111,-1.57079507713219,-0.4120003887625109,0.0],"actuator_force":[-6.957634468562901e-11,-21.685375225260486,-20.285950863967628,-2.4133485373963595,0.0006248307465739344,-8.810729923425242e-13,-0.29336111322508013],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.41200038876251116],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.719999999999896,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.41200038876251116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.73999999999992,"qpos":[-1.9827967155574109,-1.5377242490709053,1.2717620441197337,-1.3048341218437516,-1.5707963267949296,-0.4120003887625136,0.00293361117131944,0.00015630155792276712,0.003193479470423936,-0.0034292989408650732,0.0029336110742260767,0.00015630111114293713,0.0031978493844271954,-0.0034379968906932297,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999611,-1.2996736776034605e-17,-2.0849927015049345e-17,-2.808330322429627e-07],"qvel":[-6.619713575806618e-12,1.8270311261465096e-14,-2.0033467340295105e-12,-1.2917122284892092e-11,-3.014763668300102e-11,-1.5944905135495816e-14,-2.5694536749388536e-09,-1.4744945977508896e-08,1.3822773042560766e-08,1.2745865681420565e-09,1.7664093548365644e-09,9.572940144210982e-09,-9.177060646573077e-09,-6.862016092503646e-10,3.4689764171276766e-17,-2.285403687331722e-17,1.118080077120588e-14,-1.6164101564577913e-16,-4.799811567080794e-16,-4.747072805648783e-08],"joint_position_rad":[-1.9827967155574109,-1.5377242490709053,1.2717620441197337,-1.3048341218437516,-1.5707963267949296,-0.4120003887625136],"joint_velocity_rad_s":[-6.619713575806618e-12,1.8270311261465096e-14,-2.0033467340295105e-12,-1.2917122284892092e-11,-3.014763668300102e-11,-1.5944905135495816e-14],"linkage_position_rad":[0.00293361117131944,0.00015630155792276712,0.003193479470423936,-0.0034292989408650732,0.0029336110742260767,0.00015630111114293713,0.0031978493844271954,-0.0034379968906932297],"tcp_position_m":[0.07433918934879229,0.5047373576544976,0.4350000000000075],"tcp_quaternion_wxyz":[1.0519237742585986e-14,0.7071067811865478,0.7071067811865469,1.8283382426627156e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999611,-1.2996736776034605e-17,-2.0849927015049345e-17,-2.808330322429627e-07],"object_linear_velocity_m_s":[3.4689764171276766e-17,-2.285403687331722e-17,1.118080077120588e-14],"object_angular_velocity_rad_s":[-1.6164128325535908e-16,-4.799810671536608e-16,-4.747072805648788e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221279449,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.548566936683537,1.2616190686877204,-1.3096608189181116,-1.5707950771321901,-0.41200038876251116,0.0],"actuator_force":[2.6539055397734046e-09,-21.685375225270946,-20.285950863225025,-2.4133485358883036,0.0006248343845527415,2.8137492336099967e-12,-0.2933611082620542],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197357,-1.304834121843737,-1.5707963267948968,-0.41200038876251177],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.73999999999992,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197357,-1.304834121843737,-1.5707963267948968,-0.41200038876251177],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.759999999999945,"qpos":[-1.9827967155574064,-1.5377242490709053,1.2717620441197353,-1.3048341218437403,-1.5707963267949023,-0.4120003887625136,0.0029336111722190875,0.00015630156514766558,0.003193479464211971,-0.003429298942104083,0.002933611074067179,0.00015630110637363724,0.003197849389097397,-0.003437996890298033,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999611,-1.0067304162836506e-17,-1.6205524361884486e-17,-2.81013026841647e-07],"qvel":[1.9912513830865314e-12,6.53906236851153e-14,7.473697023987523e-13,2.6739547494619637e-12,5.4287714550742184e-12,1.2372372844352468e-14,8.463217881261663e-10,4.511995337032069e-09,-4.365414624730783e-09,-3.6114636092790795e-10,-7.244729056561853e-10,-2.9214927127882078e-09,2.758380301496493e-09,2.5924437085699226e-10,2.0129423204839406e-17,-1.333981977036363e-17,1.114471852290556e-14,4.517690378325809e-16,6.917934477060762e-16,-5.137160242536813e-09],"joint_position_rad":[-1.9827967155574064,-1.5377242490709053,1.2717620441197353,-1.3048341218437403,-1.5707963267949023,-0.4120003887625136],"joint_velocity_rad_s":[1.9912513830865314e-12,6.53906236851153e-14,7.473697023987523e-13,2.6739547494619637e-12,5.4287714550742184e-12,1.2372372844352468e-14],"linkage_position_rad":[0.0029336111722190875,0.00015630156514766558,0.003193479464211971,-0.003429298942104083,0.002933611074067179,0.00015630110637363724,0.003197849389097397,-0.003437996890298033],"tcp_position_m":[0.07433918934878248,0.5047373576544978,0.43500000000000566],"tcp_quaternion_wxyz":[3.072998818400379e-16,0.7071067811865458,0.7071067811865487,7.391841487228577e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999611,-1.0067304162836506e-17,-1.6205524361884486e-17,-2.81013026841647e-07],"object_linear_velocity_m_s":[2.0129423204839406e-17,-1.333981977036363e-17,1.114471852290556e-14],"object_angular_velocity_rad_s":[4.517694268049523e-16,6.917931936965636e-16,-5.13716024253682e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221294625,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.2616190686877202,-1.3096608189181107,-1.5707950771321901,-0.41200038876251177,0.0],"actuator_force":[-7.989910955075175e-10,-21.685375225290045,-20.285950864328697,-2.4133485374526344,0.0006248308133081082,-3.410605131648481e-13,-0.29336111292355777],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.41200038876251044],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.759999999999945,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.41200038876251044],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.77999999999997,"qpos":[-1.9827967155574107,-1.5377242490709053,1.2717620441197333,-1.304834121843746,-1.5707963267949157,-0.4120003887625136,0.0029336111695785778,0.00015630155261362746,0.003193479477013577,-0.0034292989420076085,0.0029336110764132547,0.00015630111432315944,0.003197849381295068,-0.0034379968906170736,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999611,-5.626715589887732e-18,-1.1613752938513305e-17,-2.8145312747965695e-07],"qvel":[1.5529519651943083e-12,1.2002930511707163e-14,4.557728217430515e-13,3.509044056146356e-12,8.493866783953496e-12,2.4829201400965624e-14,2.9470519335329444e-10,2.2206188927986688e-09,-1.9838576839096318e-09,-2.672042110891982e-10,-7.104827717104319e-11,-1.4521547767635367e-09,1.4591964939483944e-09,6.005553923742776e-11,1.5793094230377262e-17,-6.630348151976747e-18,1.1078105141428047e-14,2.842148394746113e-16,4.830563688054362e-16,-2.064977221307121e-08],"joint_position_rad":[-1.9827967155574107,-1.5377242490709053,1.2717620441197333,-1.304834121843746,-1.5707963267949157,-0.4120003887625136],"joint_velocity_rad_s":[1.5529519651943083e-12,1.2002930511707163e-14,4.557728217430515e-13,3.509044056146356e-12,8.493866783953496e-12,2.4829201400965624e-14],"linkage_position_rad":[0.0029336111695785778,0.00015630155261362746,0.003193479477013577,-0.0034292989420076085,0.0029336110764132547,0.00015630111432315944,0.003197849381295068,-0.0034379968906170736],"tcp_position_m":[0.07433918934878829,0.504737357654498,0.43500000000000716],"tcp_quaternion_wxyz":[5.0309943552604686e-15,0.7071067811865476,0.7071067811865471,1.3442224438425943e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999611,-5.626715589887732e-18,-1.1613752938513305e-17,-2.8145312747965695e-07],"object_linear_velocity_m_s":[1.5793094230377262e-17,-6.630348151976747e-18,1.1078105141428047e-14],"object_angular_velocity_rad_s":[2.842151118696608e-16,4.830562085866685e-16,-2.0649772213071243e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221255786,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.548566936683537,1.261619068687721,-1.3096608189181116,-1.5707950771321895,-0.41200038876251044,0.0],"actuator_force":[-6.148184183984995e-10,-21.685375225268672,-20.285950864206825,-2.413348537533693,0.0006248305137432908,-9.094947017729282e-13,-0.29336111341787624],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.41200038876251144],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.77999999999997,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.41200038876251144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.799999999999994,"qpos":[-1.9827967155574138,-1.5377242490709053,1.2717620441197324,-1.3048341218437538,-1.5707963267949334,-0.4120003887625136,0.002933611169963903,0.00015630155088744872,0.003193479477377855,-0.0034292989404989048,0.0029336110755320225,0.00015630111562715633,0.0031978493803186234,-0.00343799689109903,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999611,-6.477214551688142e-18,-5.5881173157787706e-18,-2.816673876534939e-07],"qvel":[-2.377441380803998e-12,-1.4717474818334522e-14,-1.0696423829308638e-12,-2.1530437882660432e-12,-3.347840820546927e-12,1.1348905390778415e-14,-1.232480735237536e-09,-6.57291666490425e-09,6.423145196215904e-09,4.3035828197003944e-10,1.186199347350264e-09,4.205478977227473e-09,-3.812340826866e-09,-4.179664512270711e-10,9.052775828593633e-18,-2.9388143395164106e-17,1.10142673175121e-14,-1.9102176119095425e-15,3.9877368004676698e-16,-8.300560471540077e-08],"joint_position_rad":[-1.9827967155574138,-1.5377242490709053,1.2717620441197324,-1.3048341218437538,-1.5707963267949334,-0.4120003887625136],"joint_velocity_rad_s":[-2.377441380803998e-12,-1.4717474818334522e-14,-1.0696423829308638e-12,-2.1530437882660432e-12,-3.347840820546927e-12,1.1348905390778415e-14],"linkage_position_rad":[0.002933611169963903,0.00015630155088744872,0.003193479477377855,-0.0034292989404989048,0.0029336110755320225,0.00015630111562715633,0.0031978493803186234,-0.00343799689109903],"tcp_position_m":[0.07433918934879494,0.5047373576544978,0.4350000000000084],"tcp_quaternion_wxyz":[1.1616853558840088e-14,0.7071067811865488,0.7071067811865459,2.0753673664064055e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999611,-6.477214551688142e-18,-5.5881173157787706e-18,-2.816673876534939e-07],"object_linear_velocity_m_s":[9.052775828593633e-18,-2.9388143395164106e-17,1.10142673175121e-14],"object_angular_velocity_rad_s":[-1.910217386338471e-15,3.9877475506342304e-16,-8.30056047154009e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322125703,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.548566936683537,1.2616190686877207,-1.3096608189181111,-1.5707950771321897,-0.41200038876251144,0.0],"actuator_force":[9.627001418266445e-10,-21.685375225257758,-20.28595086359519,-2.4133485369633263,0.0006248317067729658,-5.684341886080802e-14,-0.2933611120433893],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.271762044119736,-1.3048341218437371,-1.5707963267948968,-0.4120003887625114],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.799999999999994,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.271762044119736,-1.3048341218437371,-1.5707963267948968,-0.4120003887625114],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.820000000000018,"qpos":[-1.9827967155574049,-1.5377242490709053,1.271762044119736,-1.3048341218437383,-1.5707963267948992,-0.4120003887625136,0.002933611173101666,0.0001563015696078499,0.0031934794599131344,-0.0034292989425032633,0.0029336110732649905,0.00015630110347474236,0.003197849391788687,-0.003437996889985159,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999611,-1.117773470598274e-17,-3.9085371477927224e-18,-2.819821197235713e-07],"qvel":[1.7875285874683451e-12,8.313051957464993e-14,6.952282622909884e-13,1.991949481175932e-12,3.688593188236705e-12,1.1957947406211532e-14,9.97283047987383e-10,4.8574403449872746e-09,-4.779020449111232e-09,-3.2869021486800835e-10,-9.200665387861145e-10,-3.1414756340582473e-09,2.9511775543685685e-09,2.9562472660171967e-10,5.637062083167857e-18,-1.302881870340383e-17,1.0890755006022553e-14,2.9053555816293804e-16,2.2320429335456683e-16,-8.982653308882607e-09],"joint_position_rad":[-1.9827967155574049,-1.5377242490709053,1.271762044119736,-1.3048341218437383,-1.5707963267948992,-0.4120003887625136],"joint_velocity_rad_s":[1.7875285874683451e-12,8.313051957464993e-14,6.952282622909884e-13,1.991949481175932e-12,3.688593188236705e-12,1.1957947406211532e-14],"linkage_position_rad":[0.002933611173101666,0.0001563015696078499,0.0031934794599131344,-0.0034292989425032633,0.0029336110732649905,0.00015630110347474236,0.003197849391788687,-0.003437996889985159],"tcp_position_m":[0.07433918934878056,0.5047373576544978,0.43500000000000505],"tcp_quaternion_wxyz":[-8.267926893273016e-16,0.7071067811865454,0.7071067811865493,5.721685819399454e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999611,-1.117773470598274e-17,-3.9085371477927224e-18,-2.819821197235713e-07],"object_linear_velocity_m_s":[5.637062083167857e-18,-1.302881870340383e-17,1.0890755006022553e-14],"object_angular_velocity_rad_s":[2.905356841123499e-16,2.232041293020552e-16,-8.982653308882623e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221307676,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.2616190686877204,-1.3096608189181111,-1.5707950771321901,-0.4120003887625114,0.0],"actuator_force":[-7.203198038041592e-10,-21.68537522529641,-20.285950864309143,-2.413348537385559,0.0006248309856573542,-8.526512829121202e-14,-0.2933611127044154],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.271762044119737,-1.3048341218437378,-1.5707963267948966,-0.41200038876251077],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.820000000000018,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.271762044119737,-1.3048341218437378,-1.5707963267948966,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.840000000000042,"qpos":[-1.9827967155574087,-1.5377242490709053,1.2717620441197341,-1.3048341218437427,-1.5707963267949079,-0.4120003887625136,0.00293361117011109,0.00015630155610652104,0.003193479473831412,-0.0034292989424530382,0.002933611076068955,0.00015630111204183986,0.003197849383457043,-0.003437996890403402,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999611,-2.7690314962238743e-17,-7.004441654270277e-18,-2.8237431294478455e-07],"qvel":[2.1158796411922417e-12,3.970709737162105e-14,7.551194941359808e-13,3.4975143766882334e-12,7.721431357036468e-12,2.0431362785560872e-14,6.676215709170215e-10,3.9916453245806775e-09,-3.76902407661946e-09,-3.7664967214780146e-10,-4.795716637188044e-10,-2.5789184527779524e-09,2.4679720487978174e-09,1.9799212519606102e-10,1.0158653596866063e-17,-4.4339917279410405e-17,1.0858836094064575e-14,-1.1542701692846407e-15,-3.9308195651207006e-16,-3.6107447683155975e-08],"joint_position_rad":[-1.9827967155574087,-1.5377242490709053,1.2717620441197341,-1.3048341218437427,-1.5707963267949079,-0.4120003887625136],"joint_velocity_rad_s":[2.1158796411922417e-12,3.970709737162105e-14,7.551194941359808e-13,3.4975143766882334e-12,7.721431357036468e-12,2.0431362785560872e-14],"linkage_position_rad":[0.00293361117011109,0.00015630155610652104,0.003193479473831412,-0.0034292989424530382,0.002933611076068955,0.00015630111204183986,0.003197849383457043,-0.003437996890403402],"tcp_position_m":[0.0743391893487849,0.504737357654498,0.43500000000000616],"tcp_quaternion_wxyz":[2.0113827726258433e-15,0.7071067811865464,0.7071067811865481,9.932536702535389e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999611,-2.7690314962238743e-17,-7.004441654270277e-18,-2.8237431294478455e-07],"object_linear_velocity_m_s":[1.0158653596866063e-17,-4.4339917279410405e-17,1.0858836094064575e-14],"object_angular_velocity_rad_s":[-1.1542703907711293e-15,-3.930813066391695e-16,-3.610744768315605e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221264688,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.2616190686877216,-1.3096608189181116,-1.5707950771321895,-0.41200038876251077,0.0],"actuator_force":[-8.449205779470503e-10,-21.685375225280495,-20.285950864326878,-2.413348537534148,0.0006248305870713011,-6.536993168992922e-13,-0.2933611132492518],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437374,-1.5707963267948968,-0.4120003887625112],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.840000000000042,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437374,-1.5707963267948968,-0.4120003887625112],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.860000000000067,"qpos":[-1.9827967155574138,-1.5377242490709053,1.2717620441197324,-1.3048341218437514,-1.5707963267949265,-0.4120003887625136,0.002933611169460936,0.00015630154906838138,0.003193479479447626,-0.003429298940625145,0.002933611076234888,0.00015630111672232654,0.003197849379421761,-0.0034379968912428708,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999611,-2.3340530379590525e-17,-6.377842169462326e-18,-2.825112214317897e-07],"qvel":[2.8356903028756684e-13,-1.8829250586258642e-14,-1.2236384819752497e-13,2.3916740451332045e-12,6.795319408871251e-12,2.13984306124772e-14,-3.691714293367927e-10,-1.292710458960337e-09,1.4696040180602696e-09,-6.610627670533597e-11,5.736413963593418e-10,7.892194959140406e-10,-5.769143343394667e-10,-1.538654754282619e-10,7.577774984486466e-18,-2.7014249257531684e-17,1.0844958306256758e-14,1.0106459011325579e-15,3.252154784201663e-16,-3.907455231709866e-09],"joint_position_rad":[-1.9827967155574138,-1.5377242490709053,1.2717620441197324,-1.3048341218437514,-1.5707963267949265,-0.4120003887625136],"joint_velocity_rad_s":[2.8356903028756684e-13,-1.8829250586258642e-14,-1.2236384819752497e-13,2.3916740451332045e-12,6.795319408871251e-12,2.13984306124772e-14],"linkage_position_rad":[0.002933611169460936,0.00015630154906838138,0.003193479479447626,-0.003429298940625145,0.002933611076234888,0.00015630111672232654,0.003197849379421761,-0.0034379968912428708],"tcp_position_m":[0.07433918934879315,0.5047373576544979,0.43500000000000816],"tcp_quaternion_wxyz":[8.938712783588299e-15,0.7071067811865488,0.7071067811865459,1.837608211667148e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999611,-2.3340530379590525e-17,-6.377842169462326e-18,-2.825112214317897e-07],"object_linear_velocity_m_s":[7.577774984486466e-18,-2.7014249257531684e-17,1.0844958306256758e-14],"object_angular_velocity_rad_s":[1.010646084936285e-15,3.2521490720009497e-16,-3.907455231709874e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221248683,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877207,-1.3096608189181111,-1.57079507713219,-0.4120003887625112,0.0],"actuator_force":[-1.0095391189679503e-10,-21.685375225256394,-20.285950863973994,-2.413348537419097,0.0006248306888210209,-9.379164112033322e-13,-0.29336111330714104],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948968,-0.412000388762511],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.860000000000067,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948968,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.88000000000009,"qpos":[-1.9827967155574118,-1.5377242490709053,1.271762044119734,-1.3048341218437522,-1.5707963267949316,-0.4120003887625136,0.0029336111701653337,0.00015630155310611415,0.003193479475513758,-0.003429298941243364,0.002933611075321458,0.0001563011141006935,0.0031978493815539,-0.0034379968906838535,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999996,-1.6127507456295172e-17,-5.84241774490435e-19,-2.829418270215176e-07],"qvel":[-7.167155685860824e-12,1.3291249493617924e-14,-2.1902470705373584e-12,-1.4031035832578259e-11,-3.27188695665137e-11,-1.74104419974661e-14,-2.826604952605777e-09,-1.6126804252209135e-08,1.5155222246282238e-08,1.340983160643683e-09,1.9433274872236906e-09,1.0403599006555325e-08,-9.989944414057173e-09,-7.166568920317253e-10,-1.090588552526671e-18,-2.031757502536485e-17,1.1579093281290145e-14,8.499772582223357e-16,1.410549711766013e-16,-1.570674393207783e-08],"joint_position_rad":[-1.9827967155574118,-1.5377242490709053,1.271762044119734,-1.3048341218437522,-1.5707963267949316,-0.4120003887625136],"joint_velocity_rad_s":[-7.167155685860824e-12,1.3291249493617924e-14,-2.1902470705373584e-12,-1.4031035832578259e-11,-3.27188695665137e-11,-1.74104419974661e-14],"linkage_position_rad":[0.0029336111701653337,0.00015630155310611415,0.003193479475513758,-0.003429298941243364,0.002933611075321458,0.0001563011141006935,0.0031978493815539,-0.0034379968906838535],"tcp_position_m":[0.0743391893487932,0.5047373576544973,0.4350000000000074],"tcp_quaternion_wxyz":[1.1471283499187554e-14,0.707106781186548,0.7071067811865467,1.8934878955369503e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999996,-1.6127507456295172e-17,-5.84241774490435e-19,-2.829418270215176e-07],"object_linear_velocity_m_s":[-1.090588552526671e-18,-2.031757502536485e-17,1.1579093281290145e-14],"object_angular_velocity_rad_s":[8.499773380612553e-16,1.4105448968172076e-16,-1.5706743932077835e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221263171,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.261619068687721,-1.3096608189181114,-1.5707950771321904,-0.412000388762511,0.0],"actuator_force":[2.8744580049533397e-09,-21.685375225270036,-20.285950863149537,-2.4133485357764357,0.0006248346426218632,3.0411229090532288e-12,-0.2933611078579523],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.271762044119737,-1.304834121843738,-1.5707963267948963,-0.41200038876251055],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.88000000000009,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.271762044119737,-1.304834121843738,-1.5707963267948963,-0.41200038876251055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.900000000000116,"qpos":[-1.9827967155574064,-1.5377242490709053,1.2717620441197353,-1.3048341218437396,-1.5707963267949019,-0.4120003887625136,0.002933611170898807,0.0001563015605533249,0.0031934794696145234,-0.003429298942932236,0.002933611075417402,0.00015630110916762567,0.0031978493861277964,-0.0034379968901013416,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999996,5.878183245535435e-18,-1.2896526120387593e-17,-2.832491583115302e-07],"qvel":[2.178117807877415e-12,6.633241827995238e-14,8.297256354630811e-13,2.9148871004603642e-12,5.925803230389644e-12,1.8540223179905062e-14,9.199572369570409e-10,4.922422840717167e-09,-4.754665904365642e-09,-3.974266609612588e-10,-7.852539124991448e-10,-3.1694513155244257e-09,2.9867236463729575e-09,2.831861306075746e-10,4.524902667182234e-17,3.37505154163484e-17,1.1685952247410313e-14,4.092792745506857e-15,-3.307332924395356e-15,-6.31361820721025e-08],"joint_position_rad":[-1.9827967155574064,-1.5377242490709053,1.2717620441197353,-1.3048341218437396,-1.5707963267949019,-0.4120003887625136],"joint_velocity_rad_s":[2.178117807877415e-12,6.633241827995238e-14,8.297256354630811e-13,2.9148871004603642e-12,5.925803230389644e-12,1.8540223179905062e-14],"linkage_position_rad":[0.002933611170898807,0.0001563015605533249,0.0031934794696145234,-0.003429298942932236,0.002933611075417402,0.00015630110916762567,0.0031978493861277964,-0.0034379968901013416],"tcp_position_m":[0.0743391893487822,0.5047373576544978,0.4350000000000056],"tcp_quaternion_wxyz":[-3.498379441963225e-17,0.7071067811865459,0.7071067811865488,6.971053188034719e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999996,5.878183245535435e-18,-1.2896526120387593e-17,-2.832491583115302e-07],"object_linear_velocity_m_s":[4.524902667182234e-17,3.37505154163484e-17,1.1685952247410313e-14],"object_angular_velocity_rad_s":[4.092790873536142e-15,-3.3073352422127756e-15,-6.313618207210252e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221277567,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877216,-1.3096608189181118,-1.5707950771321895,-0.41200038876251055,0.0],"actuator_force":[-8.735696610528976e-10,-21.685375225290954,-20.285950864359165,-2.413348537477532,0.0006248307637406469,-3.410605131648481e-13,-0.29336111298932704],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070896,1.2717620441197366,-1.3048341218437376,-1.5707963267948966,-0.41200038876251127],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.900000000000116,"joint_targets_rad":[-1.9827967155574076,-1.537724249070896,1.2717620441197366,-1.3048341218437376,-1.5707963267948966,-0.41200038876251127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.92000000000014,"qpos":[-1.982796715557412,-1.5377242490709053,1.271762044119733,-1.3048341218437476,-1.570796326794917,-0.4120003887625136,0.0029336111695324957,0.00015630155054492935,0.003193479478323763,-0.003429298941026961,0.00293361107640374,0.0001563011157369576,0.0031978493804108556,-0.0034379968911664566,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999996,1.7071872501731908e-17,-1.866261781627063e-17,-2.8348855155911225e-07],"qvel":[1.728430924846743e-12,2.9778518662010535e-15,5.159235376736396e-13,3.831862502817639e-12,9.210983974708435e-12,2.1468936222677288e-14,2.0979292820464742e-10,2.0014470238864253e-09,-1.712751763418118e-09,-3.406117494560491e-10,3.324664952507157e-11,-1.3196416931695943e-09,1.3406156241820492e-09,6.31486774627331e-11,2.1703590540419703e-17,1.7170847674001073e-17,1.1515255457374193e-14,-3.018524003885871e-16,6.891202694507591e-16,-6.832435433061645e-09],"joint_position_rad":[-1.982796715557412,-1.5377242490709053,1.271762044119733,-1.3048341218437476,-1.570796326794917,-0.4120003887625136],"joint_velocity_rad_s":[1.728430924846743e-12,2.9778518662010535e-15,5.159235376736396e-13,3.831862502817639e-12,9.210983974708435e-12,2.1468936222677288e-14],"linkage_position_rad":[0.0029336111695324957,0.00015630155054492935,0.003193479478323763,-0.003429298941026961,0.00293361107640374,0.0001563011157369576,0.0031978493804108556,-0.0034379968911664566],"tcp_position_m":[0.07433918934878957,0.5047373576544981,0.43500000000000744],"tcp_quaternion_wxyz":[5.156356340112981e-15,0.7071067811865481,0.7071067811865468,1.462624335272449e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999996,1.7071872501731908e-17,-1.866261781627063e-17,-2.8348855155911225e-07],"object_linear_velocity_m_s":[2.1703590540419703e-17,1.7170847674001073e-17,1.1515255457374193e-14],"object_angular_velocity_rad_s":[-3.0185200941810227e-16,6.891204408273331e-16,-6.832435433061648e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221250896,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835377,1.2616190686877211,-1.3096608189181114,-1.5707950771321895,-0.41200038876251127,0.0],"actuator_force":[-6.825757736805826e-10,-21.685375225266398,-20.285950864230017,-2.4133485375650707,0.0006248304426890172,-9.947598300641403e-13,-0.29336111351200966],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070896,1.271762044119737,-1.3048341218437374,-1.5707963267948968,-0.41200038876251105],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.92000000000014,"joint_targets_rad":[-1.9827967155574076,-1.537724249070896,1.271762044119737,-1.3048341218437374,-1.5707963267948968,-0.41200038876251105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.940000000000165,"qpos":[-1.9827967155574144,-1.5377242490709053,1.271762044119733,-1.304834121843755,-1.570796326794935,-0.4120003887625136,0.0029336111686659116,0.00015630154539902054,0.0031934794831713375,-0.003429298940882048,0.0029336110767666395,0.00015630111899542231,0.003197849377054916,-0.003437996891097306,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999996,2.2501969421240205e-17,-2.2970011992195587e-17,-2.8388299512196685e-07],"qvel":[-2.561194107838989e-12,-2.4395931967628597e-14,-1.1605394318416911e-12,-2.3259842160081256e-12,-3.6075305257565992e-12,1.3255550963697634e-14,-1.3660832248916864e-09,-7.212448523057542e-09,7.089041040527567e-09,4.238224047279264e-10,1.3166240113728247e-09,4.58164741557172e-09,-4.1719936059926775e-09,-4.3293170275341056e-10,2.7326580790228813e-17,2.6673241328172402e-17,1.1438927624431217e-14,-1.5052113461527065e-18,-1.0261168547387997e-16,-2.7464246527858468e-08],"joint_position_rad":[-1.9827967155574144,-1.5377242490709053,1.271762044119733,-1.304834121843755,-1.570796326794935,-0.4120003887625136],"joint_velocity_rad_s":[-2.561194107838989e-12,-2.4395931967628597e-14,-1.1605394318416911e-12,-2.3259842160081256e-12,-3.6075305257565992e-12,1.3255550963697634e-14],"linkage_position_rad":[0.0029336111686659116,0.00015630154539902054,0.0031934794831713375,-0.003429298940882048,0.0029336110767666395,0.00015630111899542231,0.003197849377054916,-0.003437996891097306],"tcp_position_m":[0.07433918934879571,0.5047373576544977,0.43500000000000816],"tcp_quaternion_wxyz":[1.2455755685650958e-14,0.7071067811865489,0.7071067811865458,2.124603961960984e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999996,2.2501969421240205e-17,-2.2970011992195587e-17,-2.8388299512196685e-07],"object_linear_velocity_m_s":[2.7326580790228813e-17,2.6673241328172402e-17,1.1438927624431217e-14],"object_angular_velocity_rad_s":[-1.5052683438691835e-18,-1.0261168338325678e-16,-2.7464246527858488e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221238318,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835377,1.2616190686877216,-1.3096608189181111,-1.57079507713219,-0.41200038876251105,0.0],"actuator_force":[1.0381882020737976e-09,-21.685375225255484,-20.285950863558355,-2.4133485369454775,0.000624831733261999,-5.684341886080802e-14,-0.29336111202433146],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197373,-1.3048341218437378,-1.570796326794897,-0.41200038876251066],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.940000000000165,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197373,-1.3048341218437378,-1.570796326794897,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.96000000000019,"qpos":[-1.9827967155574049,-1.5377242490709053,1.2717620441197361,-1.304834121843738,-1.5707963267948974,-0.4120003887625136,0.002933611171854472,0.00015630156541546333,0.0031934794649415956,-0.0034292989433674743,0.0029336110745495614,0.00015630110603116502,0.003197849389023814,-0.0034379968897598656,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999996,1.7865967832080206e-17,-1.3333793991237848e-17,-2.840408439839335e-07],"qvel":[1.9561603173836414e-12,8.505083132060458e-14,7.693667795849494e-13,2.1779610804665252e-12,4.0202289600136e-12,1.551510032049041e-14,1.0849226534335447e-09,5.301160911353564e-09,-5.209848825635041e-09,-3.616736498888103e-10,-9.99553537839255e-10,-3.4099016015463063e-09,3.1979159523339414e-09,3.2347126475256595e-10,-9.479099347949723e-17,4.080441069728693e-17,1.1401457597350114e-14,2.4313763482501095e-16,9.935409822644641e-15,-1.1039765318354449e-07],"joint_position_rad":[-1.9827967155574049,-1.5377242490709053,1.2717620441197361,-1.304834121843738,-1.5707963267948974,-0.4120003887625136],"joint_velocity_rad_s":[1.9561603173836414e-12,8.505083132060458e-14,7.693667795849494e-13,2.1779610804665252e-12,4.0202289600136e-12,1.551510032049041e-14],"linkage_position_rad":[0.002933611171854472,0.00015630156541546333,0.0031934794649415956,-0.0034292989433674743,0.0029336110745495614,0.00015630110603116502,0.003197849389023814,-0.0034379968897598656],"tcp_position_m":[0.07433918934878012,0.5047373576544979,0.43500000000000494],"tcp_quaternion_wxyz":[-1.6025687741066379e-15,0.7071067811865454,0.7071067811865493,5.056932037082633e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999996,1.7865967832080206e-17,-1.3333793991237848e-17,-2.840408439839335e-07],"object_linear_velocity_m_s":[-9.479099347949723e-17,4.080441069728693e-17,1.1401457597350114e-14],"object_angular_velocity_rad_s":[2.4314328189339485e-16,9.935409688465728e-15,-1.1039765318354457e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221291983,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.2616190686877218,-1.3096608189181116,-1.5707950771321901,-0.41200038876251066,0.0],"actuator_force":[-7.885319064371288e-10,-21.685375225298685,-20.285950864336883,-2.413348537404545,0.0006248309516649897,-1.1368683772161603e-13,-0.29336111274704724],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437374,-1.5707963267948968,-0.4120003887625108],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.96000000000019,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437374,-1.5707963267948968,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.980000000000214,"qpos":[-1.98279671555741,-1.5377242490709053,1.2717620441197341,-1.304834121843744,-1.5707963267949083,-0.4120003887625136,0.0029336111699969007,0.0001563015539561296,0.003193479475287842,-0.0034292989415604224,0.0029336110761430537,0.00015630111350928364,0.0031978493825091567,-0.0034379968909316696,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999996,1.402407713334421e-17,2.354364097572028e-17,-2.8445943839135047e-07],"qvel":[2.3301754786214665e-12,3.8584612856985394e-14,8.328201437009943e-13,3.820328009925472e-12,8.380505064637338e-12,2.0605167302480607e-14,6.062609732771509e-10,3.945375818485114e-09,-3.649983664675231e-09,-4.704492197525433e-10,-4.0123919185939874e-10,-2.5570873002968332e-09,2.431272918504491e-09,2.1977326298757338e-10,-2.4797371882106443e-17,1.8983008393025076e-17,1.1304313082695416e-14,-6.895478460615861e-16,2.658816147812764e-16,-1.1946950426567685e-08],"joint_position_rad":[-1.98279671555741,-1.5377242490709053,1.2717620441197341,-1.304834121843744,-1.5707963267949083,-0.4120003887625136],"joint_velocity_rad_s":[2.3301754786214665e-12,3.8584612856985394e-14,8.328201437009943e-13,3.820328009925472e-12,8.380505064637338e-12,2.0605167302480607e-14],"linkage_position_rad":[0.0029336111699969007,0.0001563015539561296,0.003193479475287842,-0.0034292989415604224,0.0029336110761430537,0.00015630111350928364,0.0031978493825091567,-0.0034379968909316696],"tcp_position_m":[0.07433918934878589,0.504737357654498,0.43500000000000655],"tcp_quaternion_wxyz":[2.0578793249389934e-15,0.7071067811865469,0.7071067811865476,1.070462327690703e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999996,1.402407713334421e-17,2.354364097572028e-17,-2.8445943839135047e-07],"object_linear_velocity_m_s":[-2.4797371882106443e-17,1.8983008393025076e-17,1.1304313082695416e-14],"object_angular_velocity_rad_s":[-6.895476953589548e-16,2.6588200741310976e-16,-1.1946950426567695e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221259376,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835373,1.2616190686877211,-1.3096608189181111,-1.5707950771321897,-0.4120003887625108,0.0],"actuator_force":[-9.281393431592733e-10,-21.685375225279586,-20.285950864359165,-2.4133485375655255,0.0006248305212466221,-6.821210263296962e-13,-0.29336111333210657],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.271762044119736,-1.304834121843737,-1.5707963267948966,-0.4120003887625106],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.980000000000214,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.271762044119736,-1.304834121843737,-1.5707963267948966,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.000000000000238,"qpos":[-1.9827967155574142,-1.5377242490709053,1.2717620441197328,-1.3048341218437527,-1.5707963267949274,-0.4120003887625136,0.0029336111680948376,0.0001563015433756441,0.0031934794854918715,-0.0034292989410618186,0.002933611077559107,0.00015630112022074007,0.003197849376022943,-0.0034379968912345476,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999996,3.570405406323176e-18,4.6035567270560066e-17,-2.847896121840473e-07],"qvel":[3.279940363423577e-13,-2.4074793344185728e-14,-1.2755795173768568e-13,2.6221223738100477e-12,7.41111645213991e-12,2.5084992334330895e-14,-4.2406259850058985e-10,-1.449666311566869e-09,1.683529519914248e-09,-1.1289471166170134e-10,6.503351019161381e-10,8.760626913505159e-10,-6.64128226490064e-10,-1.4965374526919645e-10,-8.293116675636672e-17,-7.060505506049722e-18,1.1211331904383058e-14,-1.3647507078632852e-15,3.2181738042613537e-15,-4.80229919453055e-08],"joint_position_rad":[-1.9827967155574142,-1.5377242490709053,1.2717620441197328,-1.3048341218437527,-1.5707963267949274,-0.4120003887625136],"joint_velocity_rad_s":[3.279940363423577e-13,-2.4074793344185728e-14,-1.2755795173768568e-13,2.6221223738100477e-12,7.41111645213991e-12,2.5084992334330895e-14],"linkage_position_rad":[0.0029336111680948376,0.0001563015433756441,0.0031934794854918715,-0.0034292989410618186,0.002933611077559107,0.00015630112022074007,0.003197849376022943,-0.0034379968912345476],"tcp_position_m":[0.0743391893487935,0.5047373576544979,0.43500000000000794],"tcp_quaternion_wxyz":[9.093850586407613e-15,0.7071067811865488,0.7071067811865459,1.8956260713690066e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999996,3.570405406323176e-18,4.6035567270560066e-17,-2.847896121840473e-07],"object_linear_velocity_m_s":[-8.293116675636672e-17,-7.060505506049722e-18,1.1211331904383058e-14],"object_angular_velocity_rad_s":[-1.3647488792796573e-15,3.2181745819374096e-15,-4.802299194530555e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221229222,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.2616190686877204,-1.3096608189181107,-1.5707950771321895,-0.4120003887625106,0.0],"actuator_force":[-1.1823431123048067e-10,-21.68537522525412,-20.28595086397354,-2.413348537441152,0.0006248306278848759,-1.0231815394945443e-12,-0.29336111341405974],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437374,-1.5707963267948966,-0.4120003887625103],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.000000000000238,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437374,-1.5707963267948966,-0.4120003887625103],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.020000000000262,"qpos":[-1.9827967155574031,-1.5377242490709053,1.2717620441197368,-1.3048341218437367,-1.5707963267948948,-0.4120003887625136,0.00293361117291936,0.00015630157033809462,0.0031934794601105403,-0.0034292989437427765,0.0029336110735343197,0.00015630110285047693,0.003197849391983564,-0.0034379968894056676,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999996,-9.985332462513115e-19,4.2613212603761856e-17,-2.849717007998471e-07],"qvel":[1.5931343561411799e-12,9.519722271842403e-14,6.382137675691315e-13,1.4639114339746885e-12,2.374091365025997e-12,1.5675965767330654e-14,1.1840351450544063e-09,5.327683466157559e-09,-5.318790743587092e-09,-2.8867212953951685e-10,-1.1376730142528797e-09,-3.4264577983774582e-09,3.2160425242640673e-09,3.279106267967749e-10,-5.0062921011291446e-17,-9.627626989283298e-19,1.1180800771205866e-14,7.075802143532133e-18,-1.827652481321173e-15,-5.196924821872141e-09],"joint_position_rad":[-1.9827967155574031,-1.5377242490709053,1.2717620441197368,-1.3048341218437367,-1.5707963267948948,-0.4120003887625136],"joint_velocity_rad_s":[1.5931343561411799e-12,9.519722271842403e-14,6.382137675691315e-13,1.4639114339746885e-12,2.374091365025997e-12,1.5675965767330654e-14],"linkage_position_rad":[0.00293361117291936,0.00015630157033809462,0.0031934794601105403,-0.0034292989437427765,0.0029336110735343197,0.00015630110285047693,0.003197849391983564,-0.0034379968894056676],"tcp_position_m":[0.07433918934877846,0.5047373576544979,0.43500000000000455],"tcp_quaternion_wxyz":[-2.478851769335536e-15,0.707106781186545,0.7071067811865499,3.7556082476544655e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999996,-9.985332462513115e-19,4.2613212603761856e-17,-2.849717007998471e-07],"object_linear_velocity_m_s":[-5.0062921011291446e-17,-9.627626989283298e-19,1.1180800771205866e-14],"object_angular_velocity_rad_s":[7.07476004214352e-18,-1.827652485364064e-15,-5.196924821872148e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322130689,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877213,-1.3096608189181114,-1.57079507713219,-0.4120003887625103,0.0],"actuator_force":[-6.461959856096655e-10,-21.685375225302778,-20.28595086428595,-2.413348537333718,0.0006248311151466623,8.526512829121202e-14,-0.29336111255449465],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625111],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.020000000000262,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.040000000000287,"qpos":[-1.9827967155574076,-1.5377242490709053,1.271762044119735,-1.304834121843741,-1.5707963267949023,-0.4120003887625136,0.002933611170743544,0.00015630155844868532,0.0031934794711206958,-0.003429298942135203,0.002933611075545594,0.00015630111057771636,0.0031978493852145747,-0.003437996890600608,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999996,-9.490011006421231e-18,5.173904639705707e-17,-2.8541692147076495e-07],"qvel":[2.3982200134442794e-12,6.963213414264126e-14,9.145140064606613e-13,3.2012488859659876e-12,6.462002368645701e-12,1.6327833091902633e-14,8.767446147680731e-10,4.984129923711398e-09,-4.734327789190632e-09,-5.033372438581384e-10,-7.285706962467123e-10,-3.214475109035477e-09,2.9970413281021178e-09,3.186447104051841e-10,-6.459902488808972e-17,-1.2678153298154813e-17,1.1143330744124765e-14,-2.6762620999102805e-16,-6.789831046587255e-16,-2.089000706878219e-08],"joint_position_rad":[-1.9827967155574076,-1.5377242490709053,1.271762044119735,-1.304834121843741,-1.5707963267949023,-0.4120003887625136],"joint_velocity_rad_s":[2.3982200134442794e-12,6.963213414264126e-14,9.145140064606613e-13,3.2012488859659876e-12,6.462002368645701e-12,1.6327833091902633e-14],"linkage_position_rad":[0.002933611170743544,0.00015630155844868532,0.0031934794711206958,-0.003429298942135203,0.002933611075545594,0.00015630111057771636,0.0031978493852145747,-0.003437996890600608],"tcp_position_m":[0.07433918934878299,0.5047373576544981,0.43500000000000594],"tcp_quaternion_wxyz":[-4.279101986340048e-17,0.7071067811865462,0.7071067811865485,7.989385212508662e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999996,-9.490011006421231e-18,5.173904639705707e-17,-2.8541692147076495e-07],"object_linear_velocity_m_s":[-6.459902488808972e-17,-1.2678153298154813e-17,1.1143330744124765e-14],"object_angular_velocity_rad_s":[-2.6762659973917798e-16,-6.789829522850102e-16,-2.0890007068782225e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221271823,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877211,-1.3096608189181111,-1.5707950771321897,-0.4120003887625111,0.0],"actuator_force":[-9.590621630195528e-10,-21.685375225291864,-20.28595086439327,-2.4133485375052715,0.0006248307101941464,-3.694822225952521e-13,-0.29336111305532653],"issued_joint_targets_rad":[-1.9827967155574078,-1.537724249070896,1.271762044119737,-1.3048341218437378,-1.5707963267948966,-0.412000388762511],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.040000000000287,"joint_targets_rad":[-1.9827967155574078,-1.537724249070896,1.271762044119737,-1.3048341218437378,-1.5707963267948966,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.06000000000031,"qpos":[-1.9827967155574124,-1.5377242490709053,1.2717620441197335,-1.3048341218437485,-1.5707963267949183,-0.4120003887625136,0.0029336111681560694,0.00015630154494338352,0.003193479484358497,-0.0034292989415354654,0.002933611077762928,0.00015630111914243782,0.003197849377100088,-0.0034379968911412008,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999996,-6.009259956276129e-18,3.767769110175408e-17,-2.8563367429979533e-07],"qvel":[1.8970760086970036e-12,1.3623602668707358e-15,5.74966644095866e-13,4.1880248212550255e-12,1.0039965436459416e-11,2.374656868470176e-14,2.0774894745590538e-10,2.146213323299572e-09,-1.7905478885158855e-09,-4.0777692341477206e-10,6.142171152480796e-11,-1.4127157119345382e-09,1.414998171643473e-09,8.328427994576516e-11,-7.626349325295954e-17,-8.216689505584032e-19,1.1015655096292871e-14,1.857914925119528e-15,6.57431194776606e-16,-8.397127345338037e-08],"joint_position_rad":[-1.9827967155574124,-1.5377242490709053,1.2717620441197335,-1.3048341218437485,-1.5707963267949183,-0.4120003887625136],"joint_velocity_rad_s":[1.8970760086970036e-12,1.3623602668707358e-15,5.74966644095866e-13,4.1880248212550255e-12,1.0039965436459416e-11,2.374656868470176e-14],"linkage_position_rad":[0.0029336111681560694,0.00015630154494338352,0.003193479484358497,-0.0034292989415354654,0.002933611077762928,0.00015630111914243782,0.003197849377100088,-0.0034379968911412008],"tcp_position_m":[0.07433918934879015,0.504737357654498,0.43500000000000727],"tcp_quaternion_wxyz":[5.798669794975538e-15,0.7071067811865482,0.7071067811865465,1.5125016825596203e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999996,-6.009259956276129e-18,3.767769110175408e-17,-2.8563367429979533e-07],"object_linear_velocity_m_s":[-7.626349325295954e-17,-8.216689505584032e-19,1.1015655096292871e-14],"object_angular_velocity_rad_s":[1.857915294360516e-15,6.574301324011581e-16,-8.39712734533805e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221231004,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.2616190686877216,-1.3096608189181116,-1.5707950771321892,-0.412000388762511,0.0],"actuator_force":[-7.498783816117793e-10,-21.685375225265034,-20.285950864253664,-2.4133485376003136,0.0006248303606071204,-1.0800249583553523e-12,-0.2933611136418032],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948968,-0.41200038876251066],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.06000000000031,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948968,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.080000000000336,"qpos":[-1.982796715557408,-1.5377242490709053,1.2717620441197357,-1.3048341218437465,-1.5707963267949188,-0.4120003887625136,0.0029336111711288308,0.0001563015607931619,0.0031934794692187055,-0.0034292989428983045,0.0029336110747281586,0.00015630110910361638,0.0031978493857031747,-0.0034379968898141126,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999996,2.026958548490645e-18,3.003049023165751e-17,-2.8595206789275353e-07],"qvel":[-4.8452211069357265e-12,5.996103666421051e-14,-1.394541922378222e-12,-9.82766983544907e-12,-2.3266017111353547e-11,-8.123700514371063e-15,-1.6819235433550168e-09,-9.184626539058849e-09,8.674499659044446e-09,9.350118371639426e-10,1.081773551095765e-09,6.041002956775351e-09,-6.039225360111527e-09,-4.3013938870459483e-10,-3.779249744908188e-17,-9.065289940712073e-19,1.0824141624545034e-14,4.2650729722771124e-16,-1.0483224217256125e-15,-9.087155498996692e-09],"joint_position_rad":[-1.982796715557408,-1.5377242490709053,1.2717620441197357,-1.3048341218437465,-1.5707963267949188,-0.4120003887625136],"joint_velocity_rad_s":[-4.8452211069357265e-12,5.996103666421051e-14,-1.394541922378222e-12,-9.82766983544907e-12,-2.3266017111353547e-11,-8.123700514371063e-15],"linkage_position_rad":[0.0029336111711288308,0.0001563015607931619,0.0031934794692187055,-0.0034292989428983045,0.0029336110747281586,0.00015630110910361638,0.0031978493857031747,-0.0034379968898141126],"tcp_position_m":[0.07433918934878768,0.5047373576544977,0.43500000000000616],"tcp_quaternion_wxyz":[6.7826997675548534e-15,0.7071067811865465,0.7071067811865482,1.3095664407479044e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999996,2.026958548490645e-18,3.003049023165751e-17,-2.8595206789275353e-07],"object_linear_velocity_m_s":[-3.779249744908188e-17,-9.065289940712073e-19,1.0824141624545034e-14],"object_angular_velocity_rad_s":[4.2650669714193017e-16,-1.0483226656098914e-15,-9.087155498996708e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221282943,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.548566936683537,1.261619068687721,-1.3096608189181118,-1.5707950771321904,-0.41200038876251066,0.0],"actuator_force":[1.9394974515307695e-09,-21.68537522528777,-20.2859508634715,-2.4133485361998055,0.0006248336908356578,2.2737367544323206e-12,-0.29336110929209946],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948968,-0.41200038876251077],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.080000000000336,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948968,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.10000000000036,"qpos":[-1.982796715557405,-1.5377242490709053,1.2717620441197364,-1.3048341218437385,-1.5707963267948988,-0.4120003887625136,0.0029336111716722828,0.0001563015634400061,0.0031934794663738397,-0.0034292989426759598,0.002933611074713365,0.00015630110737284314,0.0031978493881269087,-0.003437996890215615,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.99999999999996,3.3253237070396777e-18,5.3441456248126234e-18,-2.8634882380264645e-07],"qvel":[2.1572002170590797e-12,8.962130305827844e-14,8.47585981435827e-13,2.4042732979570793e-12,4.431678078936581e-12,1.4936165628441585e-14,1.0557109560810244e-09,5.425257291540938e-09,-5.2463769419915025e-09,-4.718064050807114e-10,-9.607269932702706e-10,-3.495905612268566e-09,3.2379892765129986e-09,3.692944368301098e-10,3.4296622541119555e-18,-2.359668890280109e-18,1.0815814951860346e-14,-1.0240561818644969e-16,-2.1006753708863776e-15,-3.652751369623438e-08],"joint_position_rad":[-1.982796715557405,-1.5377242490709053,1.2717620441197364,-1.3048341218437385,-1.5707963267948988,-0.4120003887625136],"joint_velocity_rad_s":[2.1572002170590797e-12,8.962130305827844e-14,8.47585981435827e-13,2.4042732979570793e-12,4.431678078936581e-12,1.4936165628441585e-14],"linkage_position_rad":[0.0029336111716722828,0.0001563015634400061,0.0031934794663738397,-0.0034292989426759598,0.002933611074713365,0.00015630110737284314,0.0031978493881269087,-0.003437996890215615],"tcp_position_m":[0.07433918934878067,0.5047373576544978,0.4350000000000047],"tcp_quaternion_wxyz":[-9.680190093464663e-16,0.7071067811865456,0.7071067811865491,5.344945630577723e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.99999999999996,3.3253237070396777e-18,5.3441456248126234e-18,-2.8634882380264645e-07],"object_linear_velocity_m_s":[3.4296622541119555e-18,-2.359668890280109e-18,1.0815814951860346e-14],"object_angular_velocity_rad_s":[-1.0240682162869301e-16,-2.100675311995649e-15,-3.6527513696234456e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221286907,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877213,-1.3096608189181116,-1.57079507713219,-0.41200038876251077,0.0],"actuator_force":[-8.676579454913735e-10,-21.685375225300504,-20.28595086436917,-2.413348537426941,0.0006248309113061623,-1.1368683772161603e-13,-0.29336111279420224],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197368,-1.304834121843738,-1.5707963267948968,-0.41200038876251077],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.10000000000036,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197368,-1.304834121843738,-1.5707963267948968,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.120000000000385,"qpos":[-1.9827967155574098,-1.5377242490709053,1.2717620441197344,-1.3048341218437443,-1.57079632679491,-0.4120003887625136,0.0029336111686515997,0.00015630154868685465,0.003193479481029521,-0.003429298942142193,0.0029336110774927397,0.00015630111674731567,0.003197849379310591,-0.003437996890872185,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999589,2.7069588877682667e-18,-2.7061821826627335e-18,-2.8648732505252923e-07],"qvel":[2.5477278436470195e-12,4.2554605794871385e-14,9.174004529130508e-13,4.169179256525228e-12,9.136172354417321e-12,2.163799896455803e-14,6.397125474065e-10,4.267120936500981e-09,-3.9058164961421775e-09,-5.433709617310002e-10,-4.134461514515967e-10,-2.7563218974832435e-09,2.597620958576743e-09,2.520764904505008e-10,1.7328281340098293e-18,1.981993550618594e-18,1.1405620933692462e-14,1.52759965430344e-16,-2.0136123492978996e-16,-3.952913696536138e-09],"joint_position_rad":[-1.9827967155574098,-1.5377242490709053,1.2717620441197344,-1.3048341218437443,-1.57079632679491,-0.4120003887625136],"joint_velocity_rad_s":[2.5477278436470195e-12,4.2554605794871385e-14,9.174004529130508e-13,4.169179256525228e-12,9.136172354417321e-12,2.163799896455803e-14],"linkage_position_rad":[0.0029336111686515997,0.00015630154868685465,0.003193479481029521,-0.003429298942142193,0.0029336110774927397,0.00015630111674731567,0.003197849379310591,-0.003437996890872185],"tcp_position_m":[0.0743391893487863,0.5047373576544979,0.4350000000000064],"tcp_quaternion_wxyz":[2.7591435571613845e-15,0.7071067811865471,0.7071067811865476,1.098084671493015e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999589,2.7069588877682667e-18,-2.7061821826627335e-18,-2.8648732505252923e-07],"object_linear_velocity_m_s":[1.7328281340098293e-18,1.981993550618594e-18,1.1405620933692462e-14],"object_angular_velocity_rad_s":[1.527598500768304e-16,-2.013613224359439e-16,-3.952913696536137e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221241054,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835368,1.2616190686877213,-1.3096608189181118,-1.5707950771321897,-0.41200038876251077,0.0],"actuator_force":[-1.0154508345294744e-09,-21.68537522528004,-20.285950864392817,-2.4133485376006547,0.0006248304466680565,-7.673861546209082e-13,-0.2933611134385489],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948968,-0.4120003887625106],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.120000000000385,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948968,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.14000000000041,"qpos":[-1.9827967155574096,-1.5377242490709053,1.2717620441197353,-1.304834121843748,-1.5707963267949223,-0.4120003887625136,0.002933611170365172,0.00015630155709669987,0.0031934794729301724,-0.003429298942622415,0.002933611075444097,0.0001563011115345988,0.0031978493833549368,-0.0034379968900232166,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999589,-6.497849900217958e-18,-1.7430359408738136e-17,-2.869229402118862e-07],"qvel":[-1.74516453102383e-12,2.939898466098953e-14,-7.662352504396647e-13,-1.7675409991333814e-12,-3.036938696922903e-12,1.4112430308566809e-14,-6.430716655445877e-10,-3.300270201276456e-09,3.240468576787584e-09,3.423568479998801e-10,5.97712053333146e-10,2.1509421234843663e-09,-2.0381838256844436e-09,-2.387990123264187e-10,1.9612866311890746e-17,-9.129005412255354e-18,1.1574929944947798e-14,-1.5426502721480275e-16,-4.773873379771817e-17,-1.5889472696511274e-08],"joint_position_rad":[-1.9827967155574096,-1.5377242490709053,1.2717620441197353,-1.304834121843748,-1.5707963267949223,-0.4120003887625136],"joint_velocity_rad_s":[-1.74516453102383e-12,2.939898466098953e-14,-7.662352504396647e-13,-1.7675409991333814e-12,-3.036938696922903e-12,1.4112430308566809e-14],"linkage_position_rad":[0.002933611170365172,0.00015630155709669987,0.0031934794729301724,-0.003429298942622415,0.002933611075444097,0.0001563011115345988,0.0031978493833549368,-0.0034379968900232166],"tcp_position_m":[0.07433918934878943,0.5047373576544973,0.4350000000000062],"tcp_quaternion_wxyz":[8.027227801943705e-15,0.7071067811865469,0.7071067811865476,1.4543188631142134e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999589,-6.497849900217958e-18,-1.7430359408738136e-17,-2.869229402118862e-07],"object_linear_velocity_m_s":[1.9612866311890746e-17,-9.129005412255354e-18,1.1574929944947798e-14],"object_angular_velocity_rad_s":[-1.542650540555347e-16,-4.773864547985493e-17,-1.5889472696511277e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221271899,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877213,-1.3096608189181114,-1.5707950771321901,-0.4120003887625106,0.0],"actuator_force":[7.016751624178141e-10,-21.685375225276402,-20.285950863721155,-2.413348537004822,0.0006248316698247436,5.684341886080802e-14,-0.2933611120636654],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.14000000000041,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.160000000000434,"qpos":[-1.9827967155574031,-1.5377242490709053,1.271762044119737,-1.3048341218437363,-1.5707963267948957,-0.4120003887625136,0.0029336111727223907,0.00015630156853590942,0.003193479461443865,-0.0034292989431458317,0.002933611073718442,0.00015630110409491375,0.0031978493911216837,-0.0034379968898112954,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999589,1.8063421932538115e-18,-3.118824894234116e-17,-2.872338469257512e-07],"qvel":[1.768031941839765e-12,1.0168726337808316e-13,7.048029109170671e-13,1.6336919591076107e-12,2.6679246618065816e-12,1.5289828868786433e-14,1.1657578863510648e-09,5.482823380941767e-09,-5.3867644430911765e-09,-3.9978513582937193e-10,-1.1126504255391838e-09,-3.5344247688549825e-09,3.27315022082297e-09,3.802311800312644e-10,7.560716870941613e-17,9.30961004179087e-18,1.1615175529590458e-14,2.0697165117306203e-15,-3.8867403763635954e-15,-6.38706943676605e-08],"joint_position_rad":[-1.9827967155574031,-1.5377242490709053,1.271762044119737,-1.3048341218437363,-1.5707963267948957,-0.4120003887625136],"joint_velocity_rad_s":[1.768031941839765e-12,1.0168726337808316e-13,7.048029109170671e-13,1.6336919591076107e-12,2.6679246618065816e-12,1.5289828868786433e-14],"linkage_position_rad":[0.0029336111727223907,0.00015630156853590942,0.003193479461443865,-0.0034292989431458317,0.002933611073718442,0.00015630110409491375,0.0031978493911216837,-0.0034379968898112954],"tcp_position_m":[0.07433918934877864,0.5047373576544976,0.4350000000000045],"tcp_quaternion_wxyz":[-1.870037337839817e-15,0.7071067811865448,0.7071067811865499,3.606314977563367e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999589,1.8063421932538115e-18,-3.118824894234116e-17,-2.872338469257512e-07],"object_linear_velocity_m_s":[7.560716870941613e-17,9.30961004179087e-18,1.1615175529590458e-14],"object_angular_velocity_rad_s":[2.0697142829075294e-15,-3.886741565117484e-15,-6.387069436766053e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221302477,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.261619068687721,-1.3096608189181114,-1.5707950771321901,-0.41200038876251033,0.0],"actuator_force":[-7.16227077646181e-10,-21.685375225304597,-20.285950864314145,-2.4133485373508847,0.0006248310860428319,8.526512829121202e-14,-0.29336111258757896],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948963,-0.412000388762511],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.160000000000434,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948963,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.180000000000458,"qpos":[-1.9827967155574062,-1.5377242490709053,1.2717620441197357,-1.3048341218437411,-1.5707963267949057,-0.4120003887625136,0.0029336111725602305,0.00015630156733921952,0.0031934794623311763,-0.003429298942370022,0.002933611073665425,0.0001563011050219373,0.003197849389998493,-0.0034379968899876513,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999589,7.29309278969077e-18,-3.4906302211641834e-17,-2.8747602522111484e-07],"qvel":[1.4771306208221793e-12,4.4771676173718496e-14,5.096073049112421e-13,2.398182846122071e-12,5.316367260505852e-12,1.7506056989098017e-14,7.093589367894174e-10,3.6767803234018e-09,-3.613497898132392e-09,-2.042119776322168e-10,-5.844000223157327e-10,-2.386677480266036e-09,2.311408280160542e-09,1.6274661405328812e-10,3.9292755393928746e-17,6.06352804308622e-18,1.1759504522791728e-14,-2.0162859351677694e-17,1.3302899890032563e-15,-6.911922466794392e-09],"joint_position_rad":[-1.9827967155574062,-1.5377242490709053,1.2717620441197357,-1.3048341218437411,-1.5707963267949057,-0.4120003887625136],"joint_velocity_rad_s":[1.4771306208221793e-12,4.4771676173718496e-14,5.096073049112421e-13,2.398182846122071e-12,5.316367260505852e-12,1.7506056989098017e-14],"linkage_position_rad":[0.0029336111725602305,0.00015630156733921952,0.0031934794623311763,-0.003429298942370022,0.002933611073665425,0.0001563011050219373,0.003197849389998493,-0.0034379968899876513],"tcp_position_m":[0.07433918934878302,0.5047373576544977,0.4350000000000055],"tcp_quaternion_wxyz":[1.6334450506788172e-15,0.7071067811865458,0.7071067811865489,8.292945861868087e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999589,7.29309278969077e-18,-3.4906302211641834e-17,-2.8747602522111484e-07],"object_linear_velocity_m_s":[3.9292755393928746e-17,6.06352804308622e-18,1.1759504522791728e-14],"object_angular_velocity_rad_s":[-2.0162094016178173e-17,1.3302900006965328e-15,-6.9119224667943954e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221302241,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877213,-1.3096608189181118,-1.5707950771321897,-0.412000388762511,0.0],"actuator_force":[-5.934452929068357e-10,-21.685375225282314,-20.28595086423229,-2.4133485374251222,0.0006248308263820945,-4.547473508864641e-13,-0.2933611129360773],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.41200038876251116],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.180000000000458,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.41200038876251116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.200000000000482,"qpos":[-1.9827967155574098,-1.5377242490709053,1.2717620441197346,-1.3048341218437474,-1.5707963267949177,-0.4120003887625136,0.0029336111711140214,0.0001563015588093344,0.003193479470174765,-0.0034292989414973782,0.00293361107479459,0.0001563011105640762,0.0031978493850095924,-0.0034379968905971906,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999589,1.2993688058017308e-17,-2.5473016231211777e-17,-2.878750576526207e-07],"qvel":[2.302079576055104e-13,2.020429161330556e-14,-7.807941253946451e-14,1.6413032525623248e-12,4.634321085276567e-12,1.8391509239367902e-14,-4.0795435672328136e-11,2.5949692928549473e-10,-1.0654631585974601e-10,-8.241626425209353e-11,1.7984423149099046e-10,-1.8456847732607528e-10,2.2567995248995419e-10,-2.1475434779661426e-11,3.2931334989152127e-17,2.2617231585165367e-17,1.1504153227127942e-14,1.473209881982509e-16,7.640593614913963e-16,-2.7783759461479073e-08],"joint_position_rad":[-1.9827967155574098,-1.5377242490709053,1.2717620441197346,-1.3048341218437474,-1.5707963267949177,-0.4120003887625136],"joint_velocity_rad_s":[2.302079576055104e-13,2.020429161330556e-14,-7.807941253946451e-14,1.6413032525623248e-12,4.634321085276567e-12,1.8391509239367902e-14],"linkage_position_rad":[0.0029336111711140214,0.0001563015588093344,0.003193479470174765,-0.0034292989414973782,0.00293361107479459,0.0001563011105640762,0.0031978493850095924,-0.0034379968905971906],"tcp_position_m":[0.07433918934878848,0.5047373576544979,0.4350000000000066],"tcp_quaternion_wxyz":[5.764809962003527e-15,0.707106781186547,0.7071067811865477,1.3875490817309777e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999589,1.2993688058017308e-17,-2.5473016231211777e-17,-2.878750576526207e-07],"object_linear_velocity_m_s":[3.2931334989152127e-17,2.2617231585165367e-17,1.1504153227127942e-14],"object_angular_velocity_rad_s":[1.473214295209646e-16,7.640592773932209e-16,-2.7783759461479093e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221278688,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877213,-1.3096608189181114,-1.5707950771321897,-0.41200038876251116,0.0],"actuator_force":[-8.776623872108757e-11,-21.685375225272765,-20.285950863994913,-2.41334853734611,0.0006248309006195996,-6.252776074688882e-13,-0.2933611129906745],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.412000388762511],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.200000000000482,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.220000000000507,"qpos":[-1.9827967155574084,-1.5377242490709053,1.271762044119735,-1.3048341218437474,-1.57079632679492,-0.4120003887625136,0.0029336111708613407,0.0001563015582830283,0.003193479471001678,-0.003429298942195988,0.002933611074929969,0.00015630111076941964,0.0031978493846145854,-0.0034379968902666994,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999589,8.990113869027919e-18,-1.46845651344635e-17,-2.88034742893128e-07],"qvel":[-5.117927236702545e-12,5.923614488012374e-14,-1.4825567055165644e-12,-1.0462012638757094e-11,-2.4783065413917798e-11,-1.132989835596214e-14,-1.8962018216151785e-09,-1.0192280087063697e-08,9.682981643479729e-09,8.874422965592404e-10,1.248306095745026e-09,6.657169318258018e-09,-6.6389525797405656e-09,-4.1106487907651566e-10,1.8490214019254504e-17,-1.464125410120572e-17,1.1387579809542306e-14,-2.2267602141153894e-15,1.6423393516580743e-15,-1.1168199491845909e-07],"joint_position_rad":[-1.9827967155574084,-1.5377242490709053,1.271762044119735,-1.3048341218437474,-1.57079632679492,-0.4120003887625136],"joint_velocity_rad_s":[-5.117927236702545e-12,5.923614488012374e-14,-1.4825567055165644e-12,-1.0462012638757094e-11,-2.4783065413917798e-11,-1.132989835596214e-14],"linkage_position_rad":[0.0029336111708613407,0.0001563015582830283,0.003193479471001678,-0.003429298942195988,0.002933611074929969,0.00015630111076941964,0.0031978493846145854,-0.0034379968902666994],"tcp_position_m":[0.07433918934878818,0.5047373576544976,0.43500000000000627],"tcp_quaternion_wxyz":[6.955337478605009e-15,0.7071067811865464,0.7071067811865481,1.4039879083993549e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999589,8.990113869027919e-18,-1.46845651344635e-17,-2.88034742893128e-07],"object_linear_velocity_m_s":[1.8490214019254504e-17,-1.464125410120572e-17,1.1387579809542306e-14],"object_angular_velocity_rad_s":[-2.2267592647334325e-15,1.6423406364344815e-15,-1.1168199491845918e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221276556,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.261619068687721,-1.3096608189181114,-1.57079507713219,-0.412000388762511,0.0],"actuator_force":[2.048636815743521e-09,-21.685375225288226,-20.28595086343512,-2.4133485361358,0.000624833843403394,2.4442670110147446e-12,-0.29336110905008683],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197357,-1.3048341218437371,-1.5707963267948968,-0.4120003887625102],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.220000000000507,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197357,-1.3048341218437371,-1.5707963267948968,-0.4120003887625102],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.24000000000053,"qpos":[-1.9827967155574047,-1.5377242490709053,1.2717620441197357,-1.3048341218437396,-1.5707963267949012,-0.4120003887625136,0.0029336111733608596,0.00015630157127575952,0.003193479458443277,-0.0034292989426336477,0.0029336110729563806,0.00015630110241539552,0.003197849392508163,-0.0034379968897753285,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999589,-8.294907661757688e-19,-5.465240829016875e-18,-2.884582071347482e-07],"qvel":[1.4949591709441146e-12,6.38270467498521e-14,5.527388639478009e-13,1.9697444394832517e-12,3.998939793882903e-12,1.8995633009981298e-14,8.879868357235283e-10,4.2498545848724126e-09,-4.241928426278534e-09,-2.0268077790736636e-10,-8.003659447237842e-10,-2.7519462619696424e-09,2.642407206571039e-09,2.1038245499782036e-10,8.580042617025681e-18,-7.848497471611914e-19,1.115998408949415e-14,-4.0382577267328096e-16,3.5864053159000107e-16,-1.2085938589769642e-08],"joint_position_rad":[-1.9827967155574047,-1.5377242490709053,1.2717620441197357,-1.3048341218437396,-1.5707963267949012,-0.4120003887625136],"joint_velocity_rad_s":[1.4949591709441146e-12,6.38270467498521e-14,5.527388639478009e-13,1.9697444394832517e-12,3.998939793882903e-12,1.8995633009981298e-14],"linkage_position_rad":[0.0029336111733608596,0.00015630157127575952,0.003193479458443277,-0.0034292989426336477,0.0029336110729563806,0.00015630110241539552,0.003197849392508163,-0.0034379968897753285],"tcp_position_m":[0.07433918934878099,0.5047373576544978,0.4350000000000054],"tcp_quaternion_wxyz":[-1.2890069324881533e-16,0.707106781186545,0.7071067811865495,6.7661139867430204e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999589,-8.294907661757688e-19,-5.465240829016875e-18,-2.884582071347482e-07],"object_linear_velocity_m_s":[8.580042617025681e-18,-7.848497471611914e-19,1.115998408949415e-14],"object_angular_velocity_rad_s":[-4.038255656354996e-16,3.586407645436082e-16,-1.2085938589769655e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221313342,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.2616190686877202,-1.3096608189181111,-1.5707950771321901,-0.4120003887625102,0.0],"actuator_force":[-6.039044819772243e-10,-21.68537522528868,-20.285950864251845,-2.413348537382717,0.000624830955644029,-2.2737367544323206e-13,-0.2933611127539664],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.41200038876251066],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.24000000000053,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.260000000000556,"qpos":[-1.9827967155574082,-1.5377242490709053,1.2717620441197346,-1.3048341218437447,-1.5707963267949114,-0.4120003887625136,0.0029336111714017054,0.00015630156091485834,0.003193479468330052,-0.003429298941810284,0.00293361107467499,0.00015630110913035763,0.0031978493863826386,-0.003437996890479535,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999589,3.2072009540411216e-18,1.668348002647169e-17,-2.887922220958898e-07],"qvel":[1.23994813777534e-12,3.2053861513460676e-14,3.6036810161026445e-13,2.6759437839265864e-12,6.4189892172744734e-12,2.1195067402372514e-14,4.004200209571098e-10,2.5370072981611643e-09,-2.3528369082945827e-09,-2.484527291188672e-10,-2.333146833702755e-10,-1.654059604085287e-09,1.602379129104856e-09,1.1795937891612777e-10,-4.032853402607331e-17,3.7966859698466014e-18,1.1128065177536178e-14,8.702968488341495e-16,2.8993363340371883e-15,-4.858168074907804e-08],"joint_position_rad":[-1.9827967155574082,-1.5377242490709053,1.2717620441197346,-1.3048341218437447,-1.5707963267949114,-0.4120003887625136],"joint_velocity_rad_s":[1.23994813777534e-12,3.2053861513460676e-14,3.6036810161026445e-13,2.6759437839265864e-12,6.4189892172744734e-12,2.1195067402372514e-14],"linkage_position_rad":[0.0029336111714017054,0.00015630156091485834,0.003193479468330052,-0.003429298941810284,0.00293361107467499,0.00015630110913035763,0.0031978493863826386,-0.003437996890479535],"tcp_position_m":[0.07433918934878586,0.5047373576544978,0.4350000000000065],"tcp_quaternion_wxyz":[3.388166063457131e-15,0.7071067811865461,0.7071067811865481,1.1466329239235053e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999589,3.2072009540411216e-18,1.668348002647169e-17,-2.887922220958898e-07],"object_linear_velocity_m_s":[-4.032853402607331e-17,3.7966859698466014e-18,1.1128065177536178e-14],"object_angular_velocity_rad_s":[8.702985218245475e-16,2.8993358316784095e-15,-4.858168074907811e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322128311,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877207,-1.3096608189181111,-1.5707950771321897,-0.41200038876251066,0.0],"actuator_force":[-4.952198651153594e-10,-21.685375225276857,-20.28595086417181,-2.4133485374508155,0.0006248307190617197,-6.821210263296962e-13,-0.2933611131393615],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948968,-0.41200038876251033],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.260000000000556,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948968,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.28000000000058,"qpos":[-1.9827967155574102,-1.5377242490709053,1.2717620441197337,-1.3048341218437487,-1.5707963267949239,-0.4120003887625136,0.0029336111699635077,0.00015630155402027016,0.0031934794753434963,-0.0034292989420209746,0.002933611075782767,0.00015630111346492392,0.0031978493819997274,-0.0034379968904743414,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999589,5.559536551475491e-18,2.0755375188493218e-17,-2.8897642909013336e-07],"qvel":[-1.7985236144152094e-12,3.043005869592806e-14,-7.975926829315554e-13,-1.8241045753214038e-12,-3.1179140953021646e-12,1.5339239385990104e-14,-7.781268621816728e-10,-3.8105896378877375e-09,3.814192142801022e-09,2.50489452242586e-10,7.329790229140816e-10,2.4521117142543707e-09,-2.347145014882778e-09,-2.1019475607164496e-10,-2.2287823218955178e-17,3.971504465922493e-18,1.1071166247524138e-14,-3.0007354318381914e-17,-5.898951359701274e-16,-5.2573846889985414e-09],"joint_position_rad":[-1.9827967155574102,-1.5377242490709053,1.2717620441197337,-1.3048341218437487,-1.5707963267949239,-0.4120003887625136],"joint_velocity_rad_s":[-1.7985236144152094e-12,3.043005869592806e-14,-7.975926829315554e-13,-1.8241045753214038e-12,-3.1179140953021646e-12,1.5339239385990104e-14],"linkage_position_rad":[0.0029336111699635077,0.00015630155402027016,0.0031934794753434963,-0.0034292989420209746,0.002933611075782767,0.00015630111346492392,0.0031978493819997274,-0.0034379968904743414],"tcp_position_m":[0.07433918934879011,0.5047373576544977,0.43500000000000727],"tcp_quaternion_wxyz":[8.276056473956371e-15,0.7071067811865471,0.7071067811865476,1.6040201157997542e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999589,5.559536551475491e-18,2.0755375188493218e-17,-2.8897642909013336e-07],"object_linear_velocity_m_s":[-2.2287823218955178e-17,3.971504465922493e-18,1.1071166247524138e-14],"object_angular_velocity_rad_s":[-3.000769546819477e-17,-5.898951185687361e-16,-5.257384688998548e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221262984,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.2616190686877207,-1.3096608189181111,-1.57079507713219,-0.41200038876251033,0.0],"actuator_force":[7.244125299621373e-10,-21.685375225275948,-20.285950863706603,-2.4133485369987966,0.0006248316789196906,8.526512829121202e-14,-0.2933611120615745],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197361,-1.3048341218437376,-1.5707963267948966,-0.41200038876251144],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.28000000000058,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197361,-1.3048341218437376,-1.5707963267948966,-0.41200038876251144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.300000000000605,"qpos":[-1.9827967155574033,-1.5377242490709053,1.271762044119736,-1.3048341218437376,-1.5707963267948988,-0.4120003887625136,0.002933611174257253,0.00015630157536754196,0.0031934794543746993,-0.0034292989428699296,0.002933611072116813,0.00015630109974882646,0.0031978493950295763,-0.003437996889534445,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999589,1.3394322508423255e-17,2.4812339716036465e-17,-2.8942682935928083e-07],"qvel":[1.311004632472219e-12,7.279886832386165e-14,5.077074617111397e-13,1.4186154142421448e-12,2.619097166750454e-12,1.1284084627155589e-14,1.0008551771066993e-09,4.439802054433725e-09,-4.4988136612913425e-09,-1.6050777130034265e-10,-9.48003225387137e-10,-2.873453795063488e-09,2.758262360175504e-09,2.269845458659299e-10,-2.994789911368433e-17,1.2748117422291476e-17,1.0996226193361939e-14,1.1571494734920878e-16,-3.6794562639179286e-16,-2.113303676326525e-08],"joint_position_rad":[-1.9827967155574033,-1.5377242490709053,1.271762044119736,-1.3048341218437376,-1.5707963267948988,-0.4120003887625136],"joint_velocity_rad_s":[1.311004632472219e-12,7.279886832386165e-14,5.077074617111397e-13,1.4186154142421448e-12,2.619097166750454e-12,1.1284084627155589e-14],"linkage_position_rad":[0.002933611174257253,0.00015630157536754196,0.0031934794543746993,-0.0034292989428699296,0.002933611072116813,0.00015630109974882646,0.0031978493950295763,-0.003437996889534445],"tcp_position_m":[0.07433918934877952,0.5047373576544978,0.43500000000000516],"tcp_quaternion_wxyz":[-8.714613339327682e-16,0.7071067811865448,0.7071067811865499,5.3304810035289066e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999589,1.3394322508423255e-17,2.4812339716036465e-17,-2.8942682935928083e-07],"object_linear_velocity_m_s":[-2.994789911368433e-17,1.2748117422291476e-17,1.0996226193361939e-14],"object_angular_velocity_rad_s":[1.157147333137975e-16,-3.679456928076267e-16,-2.1133036763265283e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221325591,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.548566936683537,1.2616190686877207,-1.3096608189181116,-1.5707950771321901,-0.41200038876251144,0.0],"actuator_force":[-5.334186425898224e-10,-21.685375225292773,-20.285950864233655,-2.4133485373288295,0.0006248310924092948,-5.684341886080802e-14,-0.2933611125829631],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.300000000000605,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.32000000000063,"qpos":[-1.9827967155574069,-1.5377242490709053,1.271762044119735,-1.3048341218437416,-1.570796326794906,-0.4120003887625136,0.0029336111719799715,0.00015630156432112444,0.003193479465135692,-0.0034292989421935934,0.002933611074237504,0.00015630110691161952,0.003197849388462356,-0.003437996890248769,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999589,1.308686601535111e-17,2.8063961756241966e-17,-2.8964610384249936e-07],"qvel":[1.6401038885988542e-12,5.014055330753477e-14,5.764494539948148e-13,2.6370429286749695e-12,5.801372554291372e-12,1.8350703233550388e-14,6.982243422990761e-10,3.835355298270704e-09,-3.684643502806298e-09,-3.1000050326124587e-10,-5.589502833184388e-10,-2.4874688468004455e-09,2.3650932357782274e-09,2.1207255413870055e-10,-8.983191017385997e-17,2.468559343638078e-17,1.0979572847992561e-14,1.4665371097722479e-15,4.936998842318629e-15,-8.494817656619817e-08],"joint_position_rad":[-1.9827967155574069,-1.5377242490709053,1.271762044119735,-1.3048341218437416,-1.570796326794906,-0.4120003887625136],"joint_velocity_rad_s":[1.6401038885988542e-12,5.014055330753477e-14,5.764494539948148e-13,2.6370429286749695e-12,5.801372554291372e-12,1.8350703233550388e-14],"linkage_position_rad":[0.0029336111719799715,0.00015630156432112444,0.003193479465135692,-0.0034292989421935934,0.002933611074237504,0.00015630110691161952,0.003197849388462356,-0.003437996890248769],"tcp_position_m":[0.07433918934878365,0.5047373576544978,0.43500000000000594],"tcp_quaternion_wxyz":[1.707370063994757e-15,0.7071067811865459,0.7071067811865486,8.791911669383298e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999589,1.308686601535111e-17,2.8063961756241966e-17,-2.8964610384249936e-07],"object_linear_velocity_m_s":[-8.983191017385997e-17,2.468559343638078e-17,1.0979572847992561e-14],"object_angular_velocity_rad_s":[1.466539964968999e-15,4.9369979949877016e-15,-8.494817656619832e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221292483,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.261619068687721,-1.3096608189181114,-1.57079507713219,-0.4120003887625108,0.0],"actuator_force":[-6.575646693818271e-10,-21.685375225284133,-20.285950864258666,-2.4133485374486554,0.0006248307779515017,-4.831690603168681e-13,-0.29336111300724405],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.41200038876251105],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.32000000000063,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.41200038876251105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.340000000000654,"qpos":[-1.98279671555741,-1.5377242490709053,1.2717620441197337,-1.304834121843747,-1.5707963267949183,-0.4120003887625136,0.0029336111697779955,0.0001563015538135024,0.0031934794758145435,-0.003429298942192709,0.002933611076120383,0.0001563011135788873,0.003197849381900858,-0.003437996890470483,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999589,1.3897677952079943e-17,3.6335505952130866e-17,-2.899682015556795e-07],"qvel":[2.6337548329827237e-13,2.0801268975048963e-14,-7.768884490500879e-14,1.7916585364904328e-12,5.06042391733988e-12,1.9632222895113888e-14,-5.5325135164848986e-11,2.617887124303275e-10,-7.204338941233948e-11,-1.0448311245710398e-10,2.093770254860606e-10,-1.8797937049384527e-10,2.2095765411214887e-10,-1.756459361807731e-11,-4.149600153749191e-17,1.546630735755884e-17,1.0824141624545042e-14,-5.359699644858807e-16,-1.1396390060379298e-15,-9.192873444295862e-09],"joint_position_rad":[-1.98279671555741,-1.5377242490709053,1.2717620441197337,-1.304834121843747,-1.5707963267949183,-0.4120003887625136],"joint_velocity_rad_s":[2.6337548329827237e-13,2.0801268975048963e-14,-7.768884490500879e-14,1.7916585364904328e-12,5.06042391733988e-12,1.9632222895113888e-14],"linkage_position_rad":[0.0029336111697779955,0.0001563015538135024,0.0031934794758145435,-0.003429298942192709,0.002933611076120383,0.0001563011135788873,0.003197849381900858,-0.003437996890470483],"tcp_position_m":[0.07433918934878862,0.5047373576544978,0.43500000000000716],"tcp_quaternion_wxyz":[6.145465690868787e-15,0.707106781186547,0.7071067811865477,1.4256146546175036e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999589,1.3897677952079943e-17,3.6335505952130866e-17,-2.899682015556795e-07],"object_linear_velocity_m_s":[-4.149600153749191e-17,1.546630735755884e-17,1.0824141624545042e-14],"object_angular_velocity_rad_s":[-5.35970626071993e-16,-1.1396386949537277e-15,-9.19287344429588e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221260628,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.2616190686877211,-1.3096608189181116,-1.5707950771321897,-0.41200038876251105,0.0],"actuator_force":[-1.0095391189679503e-10,-21.685375225271855,-20.285950863994003,-2.4133485373614576,0.0006248308583280959,-6.821210263296962e-13,-0.29336111306517837],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.41200038876251105],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.340000000000654,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.41200038876251105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.360000000000678,"qpos":[-1.982796715557409,-1.5377242490709053,1.2717620441197341,-1.304834121843749,-1.5707963267949245,-0.4120003887625136,0.0029336111720999814,0.00015630156322448107,0.003193479465856936,-0.0034292989417796594,0.002933611073602523,0.00015630110769042054,0.0031978493872957536,-0.003437996890110304,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999578,5.346058291751131e-18,1.4383874152986624e-17,-2.903695732355546e-07],"qvel":[-5.736599510424901e-12,2.9388419479222633e-14,-1.706287568745657e-12,-1.111523043400207e-11,-2.5956497415561908e-11,-1.1357065771899733e-14,-2.0606671285181083e-09,-1.1834292978762475e-08,1.1099112248299897e-08,1.16684527965248e-09,1.3857487033317128e-09,7.749681125871687e-09,-7.519038215587148e-09,-6.010559934570846e-10,-1.8723228909163414e-17,1.090871866492963e-17,1.1018430653854446e-14,-8.102493108989118e-16,-2.1233685838972907e-15,-3.695246666367981e-08],"joint_position_rad":[-1.982796715557409,-1.5377242490709053,1.2717620441197341,-1.304834121843749,-1.5707963267949245,-0.4120003887625136],"joint_velocity_rad_s":[-5.736599510424901e-12,2.9388419479222633e-14,-1.706287568745657e-12,-1.111523043400207e-11,-2.5956497415561908e-11,-1.1357065771899733e-14],"linkage_position_rad":[0.0029336111720999814,0.00015630156322448107,0.003193479465856936,-0.0034292989417796594,0.002933611073602523,0.00015630110769042054,0.0031978493872957536,-0.003437996890110304],"tcp_position_m":[0.07433918934878997,0.5047373576544976,0.43500000000000705],"tcp_quaternion_wxyz":[8.719511130240321e-15,0.7071067811865469,0.7071067811865478,1.594759271761971e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999578,5.346058291751131e-18,1.4383874152986624e-17,-2.903695732355546e-07],"object_linear_velocity_m_s":[-1.8723228909163414e-17,1.090871866492963e-17,1.1018430653854446e-14],"object_angular_velocity_rad_s":[-8.102505450850733e-16,-2.1233681129583392e-15,-3.6952466663679803e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221294073,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835373,1.2616190686877211,-1.3096608189181118,-1.5707950771321901,-0.41200038876251105,0.0],"actuator_force":[2.297838364029303e-09,-21.685375225275948,-20.28595086334326,-2.4133485360698614,0.0006248339628882604,2.4158453015843406e-12,-0.29336110891053313],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197361,-1.3048341218437378,-1.5707963267948968,-0.41200038876251066],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.360000000000678,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197361,-1.3048341218437378,-1.5707963267948968,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.380000000000702,"qpos":[-1.9827967155574053,-1.5377242490709053,1.2717620441197357,-1.3048341218437396,-1.5707963267949014,-0.4120003887625136,0.002933611172762403,0.00015630156840759155,0.003193479461208548,-0.0034292989425697483,0.0029336110735553376,0.00015630110425417422,0.003197849390938451,-0.0034379968899672965,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999578,1.3194457180962507e-19,4.493071721187816e-18,-2.905096857781641e-07],"qvel":[1.6574938770399476e-12,6.742070640554253e-14,6.215974347056561e-13,2.1667508930430394e-12,4.382133107954827e-12,1.6866128036752135e-14,8.962860926103519e-10,4.4809347454162204e-09,-4.391797476949571e-09,-3.0405913439933996e-10,-7.980664725793169e-10,-2.9004594490663562e-09,2.740123017028576e-09,2.642419923056788e-10,-8.09915759029552e-18,2.174394250201339e-18,1.1630441096179062e-14,-1.562917010841969e-16,-4.531467464358052e-16,-3.998901015009318e-09],"joint_position_rad":[-1.9827967155574053,-1.5377242490709053,1.2717620441197357,-1.3048341218437396,-1.5707963267949014,-0.4120003887625136],"joint_velocity_rad_s":[1.6574938770399476e-12,6.742070640554253e-14,6.215974347056561e-13,2.1667508930430394e-12,4.382133107954827e-12,1.6866128036752135e-14],"linkage_position_rad":[0.002933611172762403,0.00015630156840759155,0.003193479461208548,-0.0034292989425697483,0.0029336110735553376,0.00015630110425417422,0.003197849390938451,-0.0034379968899672965],"tcp_position_m":[0.07433918934878145,0.5047373576544978,0.43500000000000527],"tcp_quaternion_wxyz":[-1.6233232663098286e-16,0.7071067811865456,0.7071067811865491,6.608190787020805e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999578,1.3194457180962507e-19,4.493071721187816e-18,-2.905096857781641e-07],"object_linear_velocity_m_s":[-8.09915759029552e-18,2.174394250201339e-18,1.1630441096179062e-14],"object_angular_velocity_rad_s":[-1.5629196440714306e-16,-4.531466556261675e-16,-3.998901015009318e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221304319,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835373,1.2616190686877207,-1.3096608189181118,-1.5707950771321901,-0.41200038876251066,0.0],"actuator_force":[-6.671143637504429e-10,-21.685375225290954,-20.285950864278675,-2.413348537402726,0.0006248309174452515,-2.2737367544323206e-13,-0.2933611128069851],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.4120003887625107],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.380000000000702,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.400000000000727,"qpos":[-1.9827967155574087,-1.5377242490709053,1.2717620441197344,-1.3048341218437443,-1.5707963267949114,-0.4120003887625136,0.0029336111700773155,0.0001563015560982205,0.0031934794738133054,-0.0034292989425491745,0.002933611076004839,0.00015630111208390723,0.003197849383320517,-0.003437996890315223,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999578,-2.2143355699292492e-17,1.9184806884601307e-18,-2.9095036878736615e-07],"qvel":[1.3620498613484771e-12,3.1817600223380114e-14,4.01345444488652e-13,2.9180767783293335e-12,6.994370040285806e-12,2.1471230658029645e-14,4.2666298067603015e-10,2.7500248968710424e-09,-2.528834340029749e-09,-2.831007707415446e-10,-2.421895425195078e-10,-1.7856464654166993e-09,1.7186005543436298e-09,1.3321531506607368e-10,-3.1467823237284354e-18,-2.674335648679334e-17,1.1765055637914863e-14,-1.9992629634643088e-16,-1.0984990615591168e-16,-1.6074327286656887e-08],"joint_position_rad":[-1.9827967155574087,-1.5377242490709053,1.2717620441197344,-1.3048341218437443,-1.5707963267949114,-0.4120003887625136],"joint_velocity_rad_s":[1.3620498613484771e-12,3.1817600223380114e-14,4.01345444488652e-13,2.9180767783293335e-12,6.994370040285806e-12,2.1471230658029645e-14],"linkage_position_rad":[0.0029336111700773155,0.0001563015560982205,0.0031934794738133054,-0.0034292989425491745,0.002933611076004839,0.00015630111208390723,0.003197849383320517,-0.003437996890315223],"tcp_position_m":[0.07433918934878586,0.5047373576544978,0.4350000000000064],"tcp_quaternion_wxyz":[3.4536731574450103e-15,0.7071067811865464,0.7071067811865481,1.1263804784892041e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999578,-2.2143355699292492e-17,1.9184806884601307e-18,-2.9095036878736615e-07],"object_linear_velocity_m_s":[-3.1467823237284354e-18,-2.674335648679334e-17,1.1765055637914863e-14],"object_angular_velocity_rad_s":[-1.999263603298153e-16,-1.0984979053051289e-16,-1.607432728665689e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322126594,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835373,1.261619068687721,-1.3096608189181114,-1.57079507713219,-0.4120003887625107,0.0],"actuator_force":[-5.425135896075517e-10,-21.685375225276857,-20.28595086418727,-2.413348537475372,0.000624830661422493,-7.389644451905042e-13,-0.2933611132264749],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197368,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.400000000000727,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197368,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.42000000000075,"qpos":[-1.9827967155574113,-1.5377242490709053,1.2717620441197335,-1.304834121843751,-1.5707963267949276,-0.4120003887625136,0.00293361117107158,0.00015630155782392753,0.0031934794711779182,-0.0034292989413802436,0.0029336110745841163,0.0001563011111763745,0.0031978493840779873,-0.0034379968904607477,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999578,-2.0857787827717527e-17,8.256285301311912e-18,-2.912648925207673e-07],"qvel":[-2.1251138667778173e-12,5.461923234598763e-16,-9.352273210679926e-13,-1.9483737236190222e-12,-3.099774137460409e-12,1.6604440010838664e-14,-9.200352617286213e-10,-5.017736429021515e-09,4.865745931795926e-09,4.62487858387134e-10,8.759905512854047e-10,3.2445539985354916e-09,-2.9601966372008325e-09,-3.734626598432202e-10,-2.6754082918287315e-17,-2.5761652906544373e-17,1.1803913443776746e-14,-3.0795049232219456e-16,1.6168511074532823e-15,-6.461375181551972e-08],"joint_position_rad":[-1.9827967155574113,-1.5377242490709053,1.2717620441197335,-1.304834121843751,-1.5707963267949276,-0.4120003887625136],"joint_velocity_rad_s":[-2.1251138667778173e-12,5.461923234598763e-16,-9.352273210679926e-13,-1.9483737236190222e-12,-3.099774137460409e-12,1.6604440010838664e-14],"linkage_position_rad":[0.00293361117107158,0.00015630155782392753,0.0031934794711779182,-0.0034292989413802436,0.0029336110745841163,0.0001563011111763745,0.0031978493840779873,-0.0034379968904607477],"tcp_position_m":[0.07433918934879183,0.5047373576544976,0.4350000000000075],"tcp_quaternion_wxyz":[9.597949147789738e-15,0.7071067811865478,0.7071067811865469,1.7819652305558506e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999578,-2.0857787827717527e-17,8.256285301311912e-18,-2.912648925207673e-07],"object_linear_velocity_m_s":[-2.6754082918287315e-17,-2.5761652906544373e-17,1.1803913443776746e-14],"object_angular_velocity_rad_s":[-3.0794955152515433e-16,1.6168512841479434e-15,-6.461375181551974e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221277231,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877213,-1.3096608189181116,-1.5707950771321901,-0.41200038876251033,0.0],"actuator_force":[8.571987564209849e-10,-21.685375225264124,-20.28595086364976,-2.4133485369854952,0.0006248316788060038,-2.842170943040401e-14,-0.29336111206256127],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.4120003887625113],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.42000000000075,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.440000000000776,"qpos":[-1.9827967155574033,-1.5377242490709053,1.2717620441197366,-1.3048341218437376,-1.5707963267948977,-0.4120003887625136,0.0029336111736801476,0.0001563015727587352,0.0031934794569550367,-0.0034292989428933917,0.0029336110727004186,0.0001563011014252442,0.0031978493935821543,-0.003437996889666522,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999578,-1.676307009747025e-17,1.0685790723508636e-17,-2.915098882645376e-07],"qvel":[1.4543086378068124e-12,7.896921135595261e-14,5.667148053502166e-13,1.574156613382425e-12,2.8877555762392746e-12,1.1920513311934573e-14,1.0213319709371711e-09,4.699813960858301e-09,-4.68449882857894e-09,-2.5569329772247077e-10,-9.61017237781815e-10,-3.0401881635131863e-09,2.8708218212490767e-09,2.8080497686393336e-10,-1.3064946450189457e-17,-1.861803019004756e-17,1.1559664378359211e-14,6.31099383662342e-16,-3.4392142061548497e-16,-6.992334234959839e-09],"joint_position_rad":[-1.9827967155574033,-1.5377242490709053,1.2717620441197366,-1.3048341218437376,-1.5707963267948977,-0.4120003887625136],"joint_velocity_rad_s":[1.4543086378068124e-12,7.896921135595261e-14,5.667148053502166e-13,1.574156613382425e-12,2.8877555762392746e-12,1.1920513311934573e-14],"linkage_position_rad":[0.0029336111736801476,0.0001563015727587352,0.0031934794569550367,-0.0034292989428933917,0.0029336110727004186,0.0001563011014252442,0.0031978493935821543,-0.003437996889666522],"tcp_position_m":[0.07433918934877931,0.5047373576544979,0.4350000000000048],"tcp_quaternion_wxyz":[-1.2669088044596827e-15,0.7071067811865448,0.7071067811865499,4.7455066076052864e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999578,-1.676307009747025e-17,1.0685790723508636e-17,-2.915098882645376e-07],"object_linear_velocity_m_s":[-1.3064946450189457e-17,-1.861803019004756e-17,1.1559664378359211e-14],"object_angular_velocity_rad_s":[6.310991829998081e-16,-3.439217887932743e-16,-6.992334234959844e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322131716,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835373,1.261619068687721,-1.3096608189181118,-1.57079507713219,-0.4120003887625113,0.0],"actuator_force":[-5.907168088015169e-10,-21.685375225295502,-20.285950864257757,-2.4133485373445183,0.0006248310651244537,-5.684341886080802e-14,-0.29336111262060194],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.440000000000776,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.4600000000008,"qpos":[-1.9827967155574067,-1.5377242490709053,1.2717620441197353,-1.3048341218437414,-1.5707963267949046,-0.4120003887625136,0.0029336111707053587,0.00015630155981533826,0.0031934794703628215,-0.003429298942970394,0.002933611075531188,0.00015630110965508283,0.003197849385592931,-0.0034379968900668588,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999578,-7.919235608390105e-18,4.567254048516908e-17,-2.9191356295057195e-07],"qvel":[1.7929420286605864e-12,5.139726138014585e-14,6.367099445852892e-13,2.8818127200721484e-12,6.318363664872472e-12,1.8735245667069527e-14,7.51551485063258e-10,4.167018515085005e-09,-3.984429690537564e-09,-3.485406613147003e-10,-5.974422006704087e-10,-2.689058516694422e-09,2.545157163756065e-09,2.344413592738313e-10,-6.219432440225798e-17,-8.417906587947076e-18,1.1891343506965978e-14,6.3069545249758175e-16,1.804399111942858e-15,-2.8106989537521945e-08],"joint_position_rad":[-1.9827967155574067,-1.5377242490709053,1.2717620441197353,-1.3048341218437414,-1.5707963267949046,-0.4120003887625136],"joint_velocity_rad_s":[1.7929420286605864e-12,5.139726138014585e-14,6.367099445852892e-13,2.8818127200721484e-12,6.318363664872472e-12,1.8735245667069527e-14],"linkage_position_rad":[0.0029336111707053587,0.00015630155981533826,0.0031934794703628215,-0.003429298942970394,0.002933611075531188,0.00015630110965508283,0.003197849385592931,-0.0034379968900668588],"tcp_position_m":[0.0743391893487832,0.5047373576544978,0.4350000000000057],"tcp_quaternion_wxyz":[1.1220685534583005e-15,0.7071067811865459,0.7071067811865488,8.317632461309357e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999578,-7.919235608390105e-18,4.567254048516908e-17,-2.9191356295057195e-07],"object_linear_velocity_m_s":[-6.219432440225798e-17,-8.417906587947076e-18,1.1891343506965978e-14],"object_angular_velocity_rad_s":[6.306965033871869e-16,1.804398743280267e-15,-2.810698953752197e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322127589,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.2616190686877213,-1.3096608189181114,-1.5707950771321897,-0.4120003887625108,0.0],"actuator_force":[-7.194103091023862e-10,-21.685375225285043,-20.285950864282313,-2.4133485374732118,0.0006248307256555563,-5.115907697472721e-13,-0.2933611130823737],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197361,-1.3048341218437376,-1.5707963267948966,-0.41200038876251033],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.4600000000008,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197361,-1.3048341218437376,-1.5707963267948966,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.480000000000825,"qpos":[-1.982796715557411,-1.5377242490709053,1.2717620441197335,-1.3048341218437491,-1.5707963267949214,-0.4120003887625136,0.0029336111707689017,0.00015630155674310373,0.0031934794724074486,-0.0034292989413937506,0.0029336110750482858,0.00015630111182630393,0.003197849383578281,-0.003437996890602307,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999578,7.934625680184363e-19,4.1521515395016594e-17,-2.920751059336393e-07],"qvel":[1.3689457122108623e-13,-3.0026861050002175e-15,-1.4656386142991777e-13,1.913870180400227e-12,5.548705606820555e-12,2.4282305476051653e-14,-1.8418706365743188e-10,-6.359706461714487e-10,7.149959986011288e-10,5.119862966099354e-11,3.4876885895414387e-10,3.918694144989825e-10,-2.1897127479849825e-10,-1.5294344909003425e-10,-1.0372606670908201e-16,7.333460484299586e-17,1.2095346987740848e-14,6.579902111281577e-15,3.1469928600691702e-15,-1.1298127839950579e-07],"joint_position_rad":[-1.982796715557411,-1.5377242490709053,1.2717620441197335,-1.3048341218437491,-1.5707963267949214,-0.4120003887625136],"joint_velocity_rad_s":[1.3689457122108623e-13,-3.0026861050002175e-15,-1.4656386142991777e-13,1.913870180400227e-12,5.548705606820555e-12,2.4282305476051653e-14],"linkage_position_rad":[0.0029336111707689017,0.00015630155674310373,0.0031934794724074486,-0.0034292989413937506,0.0029336110750482858,0.00015630111182630393,0.003197849383578281,-0.003437996890602307],"tcp_position_m":[0.07433918934879019,0.5047373576544978,0.4350000000000074],"tcp_quaternion_wxyz":[7.223133156951025e-15,0.7071067811865478,0.7071067811865469,1.5791372485984877e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999578,7.934625680184363e-19,4.1521515395016594e-17,-2.920751059336393e-07],"object_linear_velocity_m_s":[-1.0372606670908201e-16,7.333460484299586e-17,1.2095346987740848e-14],"object_angular_velocity_rad_s":[6.579903940214699e-15,3.1469890165967196e-15,-1.129812783995059e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221271989,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835368,1.2616190686877207,-1.3096608189181114,-1.5707950771321897,-0.41200038876251033,0.0],"actuator_force":[-4.774847184307873e-11,-21.68537522526185,-20.28595086396672,-2.4133485373723715,0.0006248308110343714,-7.958078640513122e-13,-0.29336111311376833],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.4120003887625113],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.480000000000825,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.50000000000085,"qpos":[-1.982796715557409,-1.5377242490709053,1.271762044119735,-1.3048341218437502,-1.5707963267949248,-0.4120003887625136,0.002933611171297595,0.00015630155945589724,0.0031934794695720227,-0.00342929894178737,0.00293361107434859,0.0001563011100645453,0.003197849385160169,-0.0034379968902540792,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999578,2.3434308311461395e-17,4.051169811051831e-17,-2.9250349666403125e-07],"qvel":[-6.165427380778766e-12,2.956745910987315e-14,-1.853354394769217e-12,-1.1990373275725505e-11,-2.8003509962977752e-11,-1.482099296347154e-14,-2.2816558825120876e-09,-1.2973262117457765e-08,1.2208486035321238e-08,1.181839206517306e-09,1.5443122080596698e-09,8.441322583087038e-09,-8.198201105611269e-09,-6.066351036931698e-10,-4.914809441100324e-17,2.5371202771215725e-17,1.2160572590437576e-14,-2.592215693903222e-16,-1.5350683045059727e-15,-1.2226543710353622e-08],"joint_position_rad":[-1.982796715557409,-1.5377242490709053,1.271762044119735,-1.3048341218437502,-1.5707963267949248,-0.4120003887625136],"joint_velocity_rad_s":[-6.165427380778766e-12,2.956745910987315e-14,-1.853354394769217e-12,-1.1990373275725505e-11,-2.8003509962977752e-11,-1.482099296347154e-14],"linkage_position_rad":[0.002933611171297595,0.00015630155945589724,0.0031934794695720227,-0.00342929894178737,0.00293361107434859,0.0001563011100645453,0.003197849385160169,-0.0034379968902540792],"tcp_position_m":[0.07433918934879007,0.5047373576544978,0.43500000000000666],"tcp_quaternion_wxyz":[8.705960457045347e-15,0.7071067811865471,0.7071067811865478,1.6234591272283953e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999578,2.3434308311461395e-17,4.051169811051831e-17,-2.9250349666403125e-07],"object_linear_velocity_m_s":[-4.914809441100324e-17,2.5371202771215725e-17,1.2160572590437576e-14],"object_angular_velocity_rad_s":[-2.5922246840660747e-16,-1.5350681522862393e-15,-1.2226543710353635e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221282088,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.261619068687721,-1.3096608189181118,-1.5707950771321901,-0.4120003887625113,0.0],"actuator_force":[2.4688233679626137e-09,-21.685375225275493,-20.28595086328687,-2.413348535981754,0.0006248341676382552,2.6147972675971687e-12,-0.2933611085955909],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948966,-0.4120003887625104],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.50000000000085,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948966,-0.4120003887625104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.520000000000874,"qpos":[-1.9827967155574049,-1.5377242490709053,1.2717620441197361,-1.3048341218437398,-1.570796326794899,-0.4120003887625136,0.002933611171547168,0.00015630156425424106,0.003193479466113545,-0.003429298943387419,0.0029336110747998183,0.00015630110678461776,0.0031978493882484655,-0.003437996889760039,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999578,3.1924711332852507e-17,4.976639543928058e-17,-2.928413974809171e-07],"qvel":[1.8108577761309653e-12,7.106205548224813e-14,6.855087453964028e-13,2.372972335850796e-12,4.773805929978108e-12,1.8528058744741988e-14,9.678877420646185e-10,4.873088715227105e-09,-4.760457512251643e-09,-3.4070901881067567e-10,-8.59153057169309e-10,-3.1380524992568637e-09,2.953377087173987e-09,2.9120000943287895e-10,-9.507006974061348e-17,5.493123528254331e-17,1.1798362328653615e-14,1.5524168499651009e-15,2.5292691294550943e-15,-4.914686921420505e-08],"joint_position_rad":[-1.9827967155574049,-1.5377242490709053,1.2717620441197361,-1.3048341218437398,-1.570796326794899,-0.4120003887625136],"joint_velocity_rad_s":[1.8108577761309653e-12,7.106205548224813e-14,6.855087453964028e-13,2.372972335850796e-12,4.773805929978108e-12,1.8528058744741988e-14],"linkage_position_rad":[0.002933611171547168,0.00015630156425424106,0.003193479466113545,-0.003429298943387419,0.0029336110747998183,0.00015630110678461776,0.0031978493882484655,-0.003437996889760039],"tcp_position_m":[0.07433918934878073,0.5047373576544981,0.43500000000000505],"tcp_quaternion_wxyz":[-1.1087020254660076e-15,0.7071067811865454,0.7071067811865493,6.1978841848475626e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999578,3.1924711332852507e-17,4.976639543928058e-17,-2.928413974809171e-07],"object_linear_velocity_m_s":[-9.507006974061348e-17,5.493123528254331e-17,1.1798362328653615e-14],"object_angular_velocity_rad_s":[1.5524183264225257e-15,2.529268223368825e-15,-4.9146869214205114e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221288908,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.2616190686877213,-1.3096608189181116,-1.5707950771321897,-0.4120003887625104,0.0],"actuator_force":[-7.303242455236614e-10,-21.685375225293228,-20.285950864303686,-2.413348537423076,0.0006248308773137978,-2.5579538487363607e-13,-0.29336111286102273],"issued_joint_targets_rad":[-1.982796715557408,-1.5377242490708956,1.2717620441197361,-1.3048341218437371,-1.5707963267948968,-0.41200038876251094],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.520000000000874,"joint_targets_rad":[-1.982796715557408,-1.5377242490708956,1.2717620441197361,-1.3048341218437371,-1.5707963267948968,-0.41200038876251094],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.540000000000898,"qpos":[-1.98279671555741,-1.5377242490709053,1.2717620441197341,-1.3048341218437467,-1.5707963267949134,-0.4120003887625136,0.0029336111709517237,0.00015630155836428408,0.00319347947100674,-0.0034292989416321957,0.002933611075059794,0.00015630111075481433,0.003197849384686689,-0.00343799689055561,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999578,2.6723566482890073e-17,4.3920405147772144e-17,-2.9302774749834824e-07],"qvel":[1.3630459688135788e-12,1.1316350427469465e-14,3.881391349249391e-13,3.141973288152313e-12,7.612191225197668e-12,2.146782992953582e-14,3.0778596655627807e-10,2.0780087737972885e-09,-1.9318721777759207e-09,-1.7368684386165385e-10,-1.1072284042387255e-10,-1.3577647915047291e-09,1.3983278167682526e-09,2.4829856240825445e-11,-5.246089734350017e-17,3.183264836204375e-17,1.1379253136857617e-14,-1.2299700017399425e-15,-1.7739951997158635e-15,-5.318547932779753e-09],"joint_position_rad":[-1.98279671555741,-1.5377242490709053,1.2717620441197341,-1.3048341218437467,-1.5707963267949134,-0.4120003887625136],"joint_velocity_rad_s":[1.3630459688135788e-12,1.1316350427469465e-14,3.881391349249391e-13,3.141973288152313e-12,7.612191225197668e-12,2.146782992953582e-14],"linkage_position_rad":[0.0029336111709517237,0.00015630155836428408,0.00319347947100674,-0.0034292989416321957,0.002933611075059794,0.00015630111075481433,0.003197849384686689,-0.00343799689055561],"tcp_position_m":[0.07433918934878736,0.504737357654498,0.4350000000000067],"tcp_quaternion_wxyz":[4.0290798102018526e-15,0.707106781186547,0.7071067811865477,1.2786846064632407e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999578,2.6723566482890073e-17,4.3920405147772144e-17,-2.9302774749834824e-07],"object_linear_velocity_m_s":[-5.246089734350017e-17,3.183264836204375e-17,1.1379253136857617e-14],"object_angular_velocity_rad_s":[-1.2299710418665537e-15,-1.7739944786006221e-15,-5.318547932779762e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221274983,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982796715557408,-1.5485669366835373,1.2616190686877207,-1.309660818918111,-1.57079507713219,-0.41200038876251094,0.0],"actuator_force":[-5.416040949057788e-10,-21.685375225268672,-20.285950864181814,-2.41334853749629,0.0006248306006000348,-8.526512829121202e-13,-0.2933611132858915],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197361,-1.3048341218437376,-1.5707963267948968,-0.4120003887625107],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.540000000000898,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197361,-1.3048341218437376,-1.5707963267948968,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.560000000000922,"qpos":[-1.9827967155574115,-1.5377242490709053,1.2717620441197337,-1.3048341218437522,-1.5707963267949285,-0.4120003887625136,0.0029336111701361886,0.0001563015534626235,0.0031934794755235224,-0.0034292989414337308,0.0029336110754605432,0.0001563011138904538,0.003197849381609153,-0.003437996890601652,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999578,1.3702819885636656e-17,4.0592066407131825e-17,-2.93483387624019e-07],"qvel":[-2.261614170470049e-12,-3.13303263572001e-15,-1.0085336646602626e-12,-2.074566657350356e-12,-3.2952531599042478e-12,1.4568205706055592e-14,-1.042069613534306e-09,-5.5553468919295574e-09,5.441073276329397e-09,4.223253410572491e-10,9.96214631034264e-10,3.5626894669877277e-09,-3.2734778957606467e-09,-3.673330981630271e-10,-5.192011133787388e-17,1.863762252029988e-17,1.0946266157253805e-14,-1.0503334354978326e-15,-1.1652976004688992e-15,-2.1378893811148646e-08],"joint_position_rad":[-1.9827967155574115,-1.5377242490709053,1.2717620441197337,-1.3048341218437522,-1.5707963267949285,-0.4120003887625136],"joint_velocity_rad_s":[-2.261614170470049e-12,-3.13303263572001e-15,-1.0085336646602626e-12,-2.074566657350356e-12,-3.2952531599042478e-12,1.4568205706055592e-14],"linkage_position_rad":[0.0029336111701361886,0.0001563015534626235,0.0031934794755235224,-0.0034292989414337308,0.0029336110754605432,0.0001563011138904538,0.003197849381609153,-0.003437996890601652],"tcp_position_m":[0.07433918934879218,0.5047373576544978,0.4350000000000075],"tcp_quaternion_wxyz":[9.862642154969061e-15,0.7071067811865478,0.7071067811865467,1.8509386106937093e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999578,1.3702819885636656e-17,4.0592066407131825e-17,-2.93483387624019e-07],"object_linear_velocity_m_s":[-5.192011133787388e-17,1.863762252029988e-17,1.0946266157253805e-14],"object_angular_velocity_rad_s":[-1.050334121224255e-15,-1.1652969833719682e-15,-2.1378893811148682e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221263034,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835373,1.2616190686877207,-1.3096608189181114,-1.5707950771321901,-0.4120003887625107,0.0],"actuator_force":[9.126779332291335e-10,-21.68537522526276,-20.285950863622475,-2.41334853697208,0.0006248316988148872,-2.842170943040401e-14,-0.2933611120505617],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625115],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.560000000000922,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625115],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.580000000000947,"qpos":[-1.9827967155574033,-1.5377242490709053,1.2717620441197366,-1.3048341218437378,-1.5707963267948963,-0.4120003887625136,0.0029336111725340045,0.00015630156896972807,0.003193479461520567,-0.00342929894375296,0.002933611073882579,0.0001563011037319736,0.0031978493910886944,-0.0034379968894294706,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999578,8.354560629505126e-18,2.8021257818732733e-17,-2.9370521309778953e-07],"qvel":[1.5936818767842556e-12,8.373241331248096e-14,6.252981592875257e-13,1.7311102136266238e-12,3.1522211135698336e-12,1.1127259500443906e-14,1.1051560089095116e-09,5.115608515382294e-09,-5.085387141977713e-09,-2.863566433746419e-10,-1.0382043856173658e-09,-3.291484207065375e-09,3.0974822876764017e-09,3.0943985085326547e-10,-6.629322901126404e-17,2.863473113627463e-17,1.0872713881872386e-14,8.159149841211301e-16,7.196743084843747e-16,-8.593644475251125e-08],"joint_position_rad":[-1.9827967155574033,-1.5377242490709053,1.2717620441197366,-1.3048341218437378,-1.5707963267948963,-0.4120003887625136],"joint_velocity_rad_s":[1.5936818767842556e-12,8.373241331248096e-14,6.252981592875257e-13,1.7311102136266238e-12,3.1522211135698336e-12,1.1127259500443906e-14],"linkage_position_rad":[0.0029336111725340045,0.00015630156896972807,0.003193479461520567,-0.00342929894375296,0.002933611073882579,0.0001563011037319736,0.0031978493910886944,-0.0034379968894294706],"tcp_position_m":[0.07433918934877906,0.5047373576544981,0.43500000000000477],"tcp_quaternion_wxyz":[-1.9858989745487483e-15,0.707106781186545,0.7071067811865499,4.7061195161688506e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999578,8.354560629505126e-18,2.8021257818732733e-17,-2.9370521309778953e-07],"object_linear_velocity_m_s":[-6.629322901126404e-17,2.863473113627463e-17,1.0872713881872386e-14],"object_angular_velocity_rad_s":[8.159154020490891e-16,7.196738306432072e-16,-8.593644475251141e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221302923,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.2616190686877211,-1.3096608189181114,-1.57079507713219,-0.4120003887625115,0.0],"actuator_force":[-6.46650732960552e-10,-21.68537522529823,-20.28595086428095,-2.413348537359866,0.0006248310379532995,-5.684341886080802e-14,-0.2933611126555873],"issued_joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197364,-1.3048341218437378,-1.5707963267948963,-0.41200038876251077],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.580000000000947,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197364,-1.3048341218437378,-1.5707963267948963,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.60000000000097,"qpos":[-1.9827967155574084,-1.5377242490709053,1.2717620441197348,-1.3048341218437436,-1.570796326794907,-0.4120003887625136,0.0029336111714688647,0.00015630156158232865,0.0031934794679917096,-0.003429298941975726,0.002933611074707677,0.00015630110865889391,0.003197849386681493,-0.003437996890392633,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999578,9.929035818478998e-18,2.3268041812582683e-17,-2.940310580241023e-07],"qvel":[1.8763141492991095e-12,3.893455286689033e-14,6.556410440339838e-13,3.126608198472454e-12,6.924016554276412e-12,1.986833396434267e-14,6.414738825333035e-10,3.6611035150368382e-09,-3.5268223408614545e-09,-2.7739562749318393e-10,-4.765383964800138e-10,-2.3721976914875458e-09,2.308328563124863e-09,1.5184459705885605e-10,-2.933840436207613e-17,1.102904415665212e-17,1.0767242694532994e-14,-3.518736226102461e-17,-8.618432336365013e-16,-9.299821288652781e-09],"joint_position_rad":[-1.9827967155574084,-1.5377242490709053,1.2717620441197348,-1.3048341218437436,-1.570796326794907,-0.4120003887625136],"joint_velocity_rad_s":[1.8763141492991095e-12,3.893455286689033e-14,6.556410440339838e-13,3.126608198472454e-12,6.924016554276412e-12,1.986833396434267e-14],"linkage_position_rad":[0.0029336111714688647,0.00015630156158232865,0.0031934794679917096,-0.003429298941975726,0.002933611074707677,0.00015630110865889391,0.003197849386681493,-0.003437996890392633],"tcp_position_m":[0.07433918934878474,0.5047373576544979,0.43500000000000605],"tcp_quaternion_wxyz":[1.7013570512663342e-15,0.7071067811865464,0.7071067811865481,9.890542529506775e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999578,9.929035818478998e-18,2.3268041812582683e-17,-2.940310580241023e-07],"object_linear_velocity_m_s":[-2.933840436207613e-17,1.102904415665212e-17,1.0767242694532994e-14],"object_angular_velocity_rad_s":[-3.5187869511151476e-17,-8.618432127593227e-16,-9.299821288652799e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221283698,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835368,1.261619068687721,-1.3096608189181116,-1.5707950771321895,-0.41200038876251077,0.0],"actuator_force":[-7.494236342608929e-10,-21.685375225278676,-20.285950864290044,-2.4133485374966313,0.0006248306664247139,-5.968558980384842e-13,-0.29336111313350455],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.4120003887625106],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.60000000000097,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.620000000000996,"qpos":[-1.9827967155574115,-1.5377242490709053,1.2717620441197335,-1.3048341218437505,-1.5707963267949234,-0.4120003887625136,0.0029336111697627434,0.00015630155220909518,0.0031934794769882154,-0.0034292989415148274,0.0029336110760129945,0.00015630111467523317,0.0031978493809561755,-0.0034379968907175605,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999567,1.6659797043149297e-17,2.450914237057685e-17,-2.944370991728011e-07],"qvel":[1.83409877444671e-13,-8.249629485946987e-15,-1.4267991322034128e-13,2.1084918978612138e-12,6.064979251103178e-12,2.3445386543683546e-14,-2.4209498608447955e-10,-7.787136643949673e-10,9.253770471035377e-10,-1.8183710344513786e-11,4.2482415432036756e-10,4.708796598116723e-10,-3.092268046080306e-10,-1.323233984392922e-10,-3.645810700335904e-17,2.7682452008538753e-17,1.1383416473199956e-14,3.5467075344121284e-16,-8.696200075942732e-18,-3.7382363439402335e-08],"joint_position_rad":[-1.9827967155574115,-1.5377242490709053,1.2717620441197335,-1.3048341218437505,-1.5707963267949234,-0.4120003887625136],"joint_velocity_rad_s":[1.83409877444671e-13,-8.249629485946987e-15,-1.4267991322034128e-13,2.1084918978612138e-12,6.064979251103178e-12,2.3445386543683546e-14],"linkage_position_rad":[0.0029336111697627434,0.00015630155220909518,0.0031934794769882154,-0.0034292989415148274,0.0029336110760129945,0.00015630111467523317,0.0031978493809561755,-0.0034379968907175605],"tcp_position_m":[0.07433918934879083,0.5047373576544979,0.4350000000000074],"tcp_quaternion_wxyz":[7.8108831094285e-15,0.7071067811865478,0.7071067811865467,1.6836680912189948e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999567,1.6659797043149297e-17,2.450914237057685e-17,-2.944370991728011e-07],"object_linear_velocity_m_s":[-3.645810700335904e-17,2.7682452008538753e-17,1.1383416473199956e-14],"object_angular_velocity_rad_s":[3.5467074648776457e-16,-8.696407686831119e-18,-3.7382363439402335e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221257293,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.261619068687721,-1.3096608189181114,-1.57079507713219,-0.4120003887625106,0.0],"actuator_force":[-6.548361852765083e-11,-21.68537522526094,-20.285950863967628,-2.4133485373913572,0.0006248307603300418,-8.526512829121202e-13,-0.29336111320243274],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.4120003887625113],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.620000000000996,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.64000000000102,"qpos":[-1.98279671555741,-1.5377242490709053,1.2717620441197346,-1.304834121843751,-1.5707963267949279,-0.4120003887625136,0.0029336111699209935,0.00015630155442945105,0.0031934794753174507,-0.00342929894254895,0.002933611075686748,0.00015630111315375827,0.0031978493818823318,-0.003437996890057177,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999567,1.3065617702259971e-17,1.7273377795877508e-17,-2.945788417535582e-07],"qvel":[-6.7124178100117266e-12,2.6132096542146364e-14,-2.030157088792965e-12,-1.3078949671088058e-11,-3.051757631836357e-11,-1.7135571152764826e-14,-2.499541499445341e-09,-1.4181316644104072e-08,1.336085679870247e-08,1.2852934731015085e-09,1.688187798047283e-09,9.185070328370897e-09,-8.93572280598689e-09,-6.562363626010888e-10,-2.1320037718987263e-17,1.6089804388800775e-17,1.1748402292545474e-14,-5.612241636714608e-16,-9.184076776162908e-16,-4.0454233397144385e-09],"joint_position_rad":[-1.98279671555741,-1.5377242490709053,1.2717620441197346,-1.304834121843751,-1.5707963267949279,-0.4120003887625136],"joint_velocity_rad_s":[-6.7124178100117266e-12,2.6132096542146364e-14,-2.030157088792965e-12,-1.3078949671088058e-11,-3.051757631836357e-11,-1.7135571152764826e-14],"linkage_position_rad":[0.0029336111699209935,0.00015630155442945105,0.0031934794753174507,-0.00342929894254895,0.002933611075686748,0.00015630111315375827,0.0031978493818823318,-0.003437996890057177],"tcp_position_m":[0.07433918934879119,0.5047373576544976,0.43500000000000705],"tcp_quaternion_wxyz":[9.958656526483136e-15,0.707106781186547,0.7071067811865477,1.7265242736796707e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999567,1.3065617702259971e-17,1.7273377795877508e-17,-2.945788417535582e-07],"object_linear_velocity_m_s":[-2.1320037718987263e-17,1.6089804388800775e-17,1.1748402292545474e-14],"object_angular_velocity_rad_s":[-5.612247048980596e-16,-9.184073468608915e-16,-4.045423339714439e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221264515,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835373,1.2616190686877211,-1.3096608189181116,-1.5707950771321901,-0.4120003887625113,0.0],"actuator_force":[2.6898305804934353e-09,-21.685375225274583,-20.285950863214566,-2.413348535872501,0.0006248344207051559,2.8421709430404007e-12,-0.29336110822361855],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197357,-1.3048341218437371,-1.5707963267948968,-0.4120003887625111],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.64000000000102,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197357,-1.3048341218437371,-1.5707963267948968,-0.4120003887625111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.660000000001045,"qpos":[-1.9827967155574062,-1.5377242490709053,1.2717620441197355,-1.3048341218437405,-1.5707963267949032,-0.4120003887625136,0.0029336111722099508,0.0001563015656509005,0.0031934794640890484,-0.0034292989423415983,0.0029336110740848715,0.00015630110604103643,0.003197849389137406,-0.0034379968901425773,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999567,2.5022558542119796e-17,7.700898116891087e-18,-2.9502465157084297e-07],"qvel":[1.935642811291404e-12,6.117253043807624e-14,7.214827578592462e-13,2.6059710470123887e-12,5.3103936829799706e-12,1.5699849430791634e-14,8.666564488072494e-10,4.4884581972951995e-09,-4.402155604447194e-09,-3.0184467377483344e-10,-7.490701394923144e-10,-2.9034446686812946e-09,2.7763866093855816e-09,2.3078984426552593e-10,-1.0768623670904412e-17,2.670267234190792e-17,1.1663747786917802e-14,-1.8736326233371875e-16,-7.260345557194126e-16,-1.6261332433974722e-08],"joint_position_rad":[-1.9827967155574062,-1.5377242490709053,1.2717620441197355,-1.3048341218437405,-1.5707963267949032,-0.4120003887625136],"joint_velocity_rad_s":[1.935642811291404e-12,6.117253043807624e-14,7.214827578592462e-13,2.6059710470123887e-12,5.3103936829799706e-12,1.5699849430791634e-14],"linkage_position_rad":[0.0029336111722099508,0.0001563015656509005,0.0031934794640890484,-0.0034292989423415983,0.0029336110740848715,0.00015630110604103643,0.003197849389137406,-0.0034379968901425773],"tcp_position_m":[0.07433918934878238,0.5047373576544978,0.4350000000000055],"tcp_quaternion_wxyz":[6.146511316226961e-16,0.7071067811865458,0.7071067811865489,7.463678868208671e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999567,2.5022558542119796e-17,7.700898116891087e-18,-2.9502465157084297e-07],"object_linear_velocity_m_s":[-1.0768623670904412e-17,2.670267234190792e-17,1.1663747786917802e-14],"object_angular_velocity_rad_s":[-1.8736369098032334e-16,-7.260344443519238e-16,-1.626133243397473e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221295577,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.548566936683537,1.2616190686877202,-1.309660818918111,-1.5707950771321901,-0.4120003887625111,0.0],"actuator_force":[-7.771632226649672e-10,-21.685375225288226,-20.285950864319148,-2.4133485374458132,0.0006248308255862867,-3.126388037344441e-13,-0.29336111290267264],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197357,-1.304834121843737,-1.5707963267948968,-0.4120003887625109],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.660000000001045,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197357,-1.304834121843737,-1.5707963267948968,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.68000000000107,"qpos":[-1.9827967155574098,-1.5377242490709053,1.2717620441197335,-1.3048341218437463,-1.5707963267949165,-0.4120003887625136,0.0029336111699166676,0.0001563015538943194,0.0031934794755946023,-0.0034292989418353275,0.0029336110760744844,0.00015630111358442265,0.00319784938203836,-0.003437996890635684,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999567,1.687754281542827e-17,1.3667261741227769e-17,-2.95342834403381e-07],"qvel":[1.5088854165592925e-12,1.0845398165171106e-14,4.3743846467641334e-13,3.434641168021534e-12,8.310561699818813e-12,2.2392012404488193e-14,2.930751414417997e-10,2.1830524314308145e-09,-1.9610203112849538e-09,-2.569069171116159e-10,-7.537699947639778e-11,-1.4301297615837496e-09,1.4419108669336638e-09,5.7943256429111654e-11,-4.25747651842521e-17,1.0062798947037215e-17,1.14694587576084e-14,-1.1602555475896056e-15,2.174172115715223e-15,-6.536545382839964e-08],"joint_position_rad":[-1.9827967155574098,-1.5377242490709053,1.2717620441197335,-1.3048341218437463,-1.5707963267949165,-0.4120003887625136],"joint_velocity_rad_s":[1.5088854165592925e-12,1.0845398165171106e-14,4.3743846467641334e-13,3.434641168021534e-12,8.310561699818813e-12,2.2392012404488193e-14],"linkage_position_rad":[0.0029336111699166676,0.0001563015538943194,0.0031934794755946023,-0.0034292989418353275,0.0029336110760744844,0.00015630111358442265,0.00319784938203836,-0.003437996890635684],"tcp_position_m":[0.07433918934878812,0.5047373576544978,0.43500000000000705],"tcp_quaternion_wxyz":[5.371483818804793e-15,0.7071067811865471,0.7071067811865476,1.3671691599507751e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999567,1.687754281542827e-17,1.3667261741227769e-17,-2.95342834403381e-07],"object_linear_velocity_m_s":[-4.25747651842521e-17,1.0062798947037215e-17,1.14694587576084e-14],"object_angular_velocity_rad_s":[-1.1602542651238264e-15,2.1741728032675864e-15,-6.536545382839968e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221260601,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835373,1.2616190686877202,-1.3096608189181107,-1.57079507713219,-0.4120003887625109,0.0],"actuator_force":[-5.998117558192462e-10,-21.685375225268672,-20.285950864201368,-2.4133485375256214,0.0006248305322742453,-9.094947017729282e-13,-0.29336111338804827],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.4120003887625116],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.68000000000107,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.4120003887625116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.700000000001094,"qpos":[-1.9827967155574122,-1.5377242490709053,1.2717620441197333,-1.3048341218437522,-1.5707963267949323,-0.4120003887625136,0.0029336111686403712,0.0001563015478670452,0.003193479481841849,-0.0034292989421665643,0.0029336110769139253,0.00015630111735735866,0.003197849377956227,-0.003437996890430176,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999567,8.26721721023926e-18,1.654110435602817e-17,-2.955906803731259e-07],"qvel":[-2.4608166017503474e-12,-9.329348710873905e-15,-1.0983557533226542e-12,-2.2667381626837252e-12,-3.5753757036485963e-12,1.0331209869192631e-14,-1.1438345110602863e-09,-6.080846621834419e-09,5.9691713582884585e-09,4.546558212399304e-10,1.0937840374413911e-09,3.883633522262256e-09,-3.578187130373576e-09,-3.9873705009253695e-10,-1.9350214716608515e-17,1.0124765479959346e-17,1.1445866518335113e-14,-5.918582623196804e-16,-6.32009533602445e-16,-7.073681495743055e-09],"joint_position_rad":[-1.9827967155574122,-1.5377242490709053,1.2717620441197333,-1.3048341218437522,-1.5707963267949323,-0.4120003887625136],"joint_velocity_rad_s":[-2.4608166017503474e-12,-9.329348710873905e-15,-1.0983557533226542e-12,-2.2667381626837252e-12,-3.5753757036485963e-12,1.0331209869192631e-14],"linkage_position_rad":[0.0029336111686403712,0.0001563015478670452,0.003193479481841849,-0.0034292989421665643,0.0029336110769139253,0.00015630111735735866,0.003197849377956227,-0.003437996890430176],"tcp_position_m":[0.07433918934879377,0.5047373576544977,0.4350000000000078],"tcp_quaternion_wxyz":[1.1565527512629569e-14,0.7071067811865482,0.7071067811865465,1.9440694499133255e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999567,8.26721721023926e-18,1.654110435602817e-17,-2.955906803731259e-07],"object_linear_velocity_m_s":[-1.9350214716608515e-17,1.0124765479959346e-17,1.1445866518335113e-14],"object_angular_velocity_rad_s":[-5.918586361858464e-16,-6.320091835898028e-16,-7.07368149574306e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221243883,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.261619068687721,-1.3096608189181114,-1.57079507713219,-0.4120003887625116,0.0],"actuator_force":[9.93622961686924e-10,-21.68537522526094,-20.285950863585185,-2.413348536952867,0.0006248317288282124,-2.842170943040401e-14,-0.29336111202746246],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625115],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.700000000001094,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625115],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.720000000001118,"qpos":[-1.9827967155574042,-1.5377242490709053,1.2717620441197364,-1.3048341218437378,-1.5707963267948994,-0.4120003887625136,0.0029336111731063205,0.00015630157008315253,0.0031934794597480395,-0.0034292989426901346,0.002933611073263898,0.0001563011031818274,0.003197849391819672,-0.003437996889847463,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999567,4.6071056609199706e-18,3.0225977664560906e-17,-2.9599905132064475e-07],"qvel":[1.7321192661270732e-12,7.502080251082736e-14,6.732701251793781e-13,1.9305724872728643e-12,3.5931196870278953e-12,1.1463182344778716e-14,1.0127900841303309e-09,4.820584634248372e-09,-4.797491492791112e-09,-2.741382981729035e-10,-9.389708316687708e-10,-3.118078386492038e-09,2.9634907787699438e-09,2.683081772775352e-10,-3.8433228682363344e-17,4.659958635231016e-18,1.1286271958545248e-14,-2.596248244166274e-16,5.365115933615271e-16,-2.8433980000342994e-08],"joint_position_rad":[-1.9827967155574042,-1.5377242490709053,1.2717620441197364,-1.3048341218437378,-1.5707963267948994,-0.4120003887625136],"joint_velocity_rad_s":[1.7321192661270732e-12,7.502080251082736e-14,6.732701251793781e-13,1.9305724872728643e-12,3.5931196870278953e-12,1.1463182344778716e-14],"linkage_position_rad":[0.0029336111731063205,0.00015630157008315253,0.0031934794597480395,-0.0034292989426901346,0.002933611073263898,0.0001563011031818274,0.003197849391819672,-0.003437996889847463],"tcp_position_m":[0.07433918934878038,0.5047373576544977,0.4350000000000048],"tcp_quaternion_wxyz":[-4.1262809674615763e-16,0.7071067811865451,0.7071067811865496,5.331755766987917e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999567,4.6071056609199706e-18,3.0225977664560906e-17,-2.9599905132064475e-07],"object_linear_velocity_m_s":[-3.8433228682363344e-17,4.659958635231016e-18,1.1286271958545248e-14],"object_angular_velocity_rad_s":[-2.596245085216265e-16,5.365117473208343e-16,-2.8433980000343027e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221308911,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.2616190686877213,-1.3096608189181116,-1.57079507713219,-0.4120003887625115,0.0],"actuator_force":[-7.003109203651547e-10,-21.685375225294592,-20.28595086429914,-2.413348537379875,0.0006248309954344222,-8.526512829121202e-14,-0.2933611126876072],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625107],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.720000000001118,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.740000000001142,"qpos":[-1.982796715557408,-1.5377242490709053,1.2717620441197344,-1.3048341218437425,-1.570796326794908,-0.4120003887625136,0.002933611170441334,0.0001563015573343339,0.003193479472432211,-0.0034292989422691016,0.0029336110757319754,0.0001563011113585498,0.0031978493841360103,-0.0034379968904227984,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999567,1.1949317357217863e-18,2.3639256750303538e-17,-2.961624736588357e-07],"qvel":[2.062518434302233e-12,3.8116979177077476e-14,7.316062237110813e-13,3.415297421171221e-12,7.551578417087444e-12,2.065191214714916e-14,6.574153905696507e-10,3.913823235718917e-09,-3.704042112487269e-09,-3.640859030858889e-10,-4.748635065605124e-10,-2.535812816691477e-09,2.4313873567764888e-09,1.9335206548811006e-10,-4.736011463499747e-17,-4.015099211123873e-17,1.121965857706774e-14,-4.093158037760918e-15,6.349765535526211e-16,-1.1429567745546468e-07],"joint_position_rad":[-1.982796715557408,-1.5377242490709053,1.2717620441197344,-1.3048341218437425,-1.570796326794908,-0.4120003887625136],"joint_velocity_rad_s":[2.062518434302233e-12,3.8116979177077476e-14,7.316062237110813e-13,3.415297421171221e-12,7.551578417087444e-12,2.065191214714916e-14],"linkage_position_rad":[0.002933611170441334,0.0001563015573343339,0.003193479472432211,-0.0034292989422691016,0.0029336110757319754,0.0001563011113585498,0.0031978493841360103,-0.0034379968904227984],"tcp_position_m":[0.07433918934878476,0.5047373576544978,0.43500000000000627],"tcp_quaternion_wxyz":[2.196474708722687e-15,0.7071067811865465,0.7071067811865482,9.882114769829668e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999567,1.1949317357217863e-18,2.3639256750303538e-17,-2.961624736588357e-07],"object_linear_velocity_m_s":[-4.736011463499747e-17,-4.015099211123873e-17,1.121965857706774e-14],"object_angular_velocity_rad_s":[-4.09315766705148e-15,6.349789783052822e-16,-1.1429567745546481e-07],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221269817,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877213,-1.3096608189181114,-1.5707950771321897,-0.4120003887625107,0.0],"actuator_force":[-8.24002199806273e-10,-21.68537522528004,-20.285950864318693,-2.4133485375259625,0.0006248306041243268,-6.536993168992922e-13,-0.2933611132214249],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.41200038876251127],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.740000000001142,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.41200038876251127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.760000000001167,"qpos":[-1.9827967155574129,-1.5377242490709053,1.2717620441197324,-1.304834121843751,-1.5707963267949265,-0.4120003887625136,0.0029336111698477795,0.00015630155057860134,0.0031934794777437486,-0.003429298940453501,0.00293361107585281,0.00015630111584878515,0.003197849380334617,-0.0034379968912538147,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999567,-1.2720770663862035e-17,1.6801506397584166e-17,-2.9659584819167325e-07],"qvel":[2.7130470926978994e-13,-1.7470937147767085e-14,-1.168283613466022e-13,2.3354139217612513e-12,6.644783464813309e-12,2.0912723959475024e-14,-3.607134278157279e-10,-1.2605167167534354e-09,1.4320824039309215e-09,-6.348772928376751e-11,5.59784576423255e-10,7.704731631749535e-10,-5.620965400379691e-10,-1.5037898569267327e-10,-2.3506073531321255e-17,-1.3191708160567227e-17,1.1065615132400997e-14,-1.0202350476387334e-16,-1.1209101058212715e-15,-1.236878459962309e-08],"joint_position_rad":[-1.9827967155574129,-1.5377242490709053,1.2717620441197324,-1.304834121843751,-1.5707963267949265,-0.4120003887625136],"joint_velocity_rad_s":[2.7130470926978994e-13,-1.7470937147767085e-14,-1.168283613466022e-13,2.3354139217612513e-12,6.644783464813309e-12,2.0912723959475024e-14],"linkage_position_rad":[0.0029336111698477795,0.00015630155057860134,0.0031934794777437486,-0.003429298940453501,0.00293361107585281,0.00015630111584878515,0.003197849380334617,-0.0034379968912538147],"tcp_position_m":[0.07433918934879251,0.5047373576544976,0.43500000000000805],"tcp_quaternion_wxyz":[9.07719724204594e-15,0.7071067811865483,0.7071067811865461,1.8181499667741574e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999567,-1.2720770663862035e-17,1.6801506397584166e-17,-2.9659584819167325e-07],"object_linear_velocity_m_s":[-2.3506073531321255e-17,-1.3191708160567227e-17,1.1065615132400997e-14],"object_angular_velocity_rad_s":[-1.0202417009405122e-16,-1.1209100456162608e-15,-1.2368784599623107e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221254381,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835373,1.2616190686877213,-1.3096608189181114,-1.5707950771321897,-0.41200038876251127,0.0],"actuator_force":[-9.868017514236271e-11,-21.685375225257303,-20.285950863974904,-2.4133485374137535,0.0006248307039413703,-9.379164112033322e-13,-0.2933611132803852],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.271762044119736,-1.3048341218437374,-1.5707963267948966,-0.4120003887625117],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.760000000001167,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.271762044119736,-1.3048341218437374,-1.5707963267948966,-0.4120003887625117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.78000000000119,"qpos":[-1.9827967155574118,-1.5377242490709053,1.2717620441197337,-1.3048341218437516,-1.5707963267949316,-0.4120003887625136,0.0029336111705440373,0.0001563015545401544,0.003193479473877783,-0.0034292989410536078,0.002933611074953783,0.00015630111323733443,0.0031978493824739787,-0.003437996890717393,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999567,-6.678374623128139e-18,2.0780202458448104e-17,-2.969376800714835e-07],"qvel":[-7.002771554254537e-12,1.7415729292015742e-14,-2.1358843413310366e-12,-1.3710806527906213e-11,-3.197497258012062e-11,-2.040349950890708e-14,-2.761051864354079e-09,-1.575370153323198e-08,1.4802474539258202e-08,1.3091509261695336e-09,1.9007744404503744e-09,1.0176580223092266e-08,-9.772163550374881e-09,-7.024625915217006e-10,-4.118376685391775e-17,-9.314213240804447e-18,1.1026757326539116e-14,8.797160966219193e-16,1.2234931083712676e-15,-4.971863295597317e-08],"joint_position_rad":[-1.9827967155574118,-1.5377242490709053,1.2717620441197337,-1.3048341218437516,-1.5707963267949316,-0.4120003887625136],"joint_velocity_rad_s":[-7.002771554254537e-12,1.7415729292015742e-14,-2.1358843413310366e-12,-1.3710806527906213e-11,-3.197497258012062e-11,-2.040349950890708e-14],"linkage_position_rad":[0.0029336111705440373,0.0001563015545401544,0.003193479473877783,-0.0034292989410536078,0.002933611074953783,0.00015630111323733443,0.0031978493824739787,-0.003437996890717393],"tcp_position_m":[0.0743391893487932,0.5047373576544975,0.4350000000000073],"tcp_quaternion_wxyz":[1.14517296536132e-14,0.7071067811865481,0.7071067811865468,1.87908335434551e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999567,-6.678374623128139e-18,2.0780202458448104e-17,-2.969376800714835e-07],"object_linear_velocity_m_s":[-4.118376685391775e-17,-9.314213240804447e-18,1.1026757326539116e-14],"object_angular_velocity_rad_s":[8.797168211578492e-16,1.2234925852652614e-15,-4.971863295597325e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.093135132212683,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.548566936683537,1.2616190686877204,-1.3096608189181114,-1.5707950771321901,-0.4120003887625117,0.0],"actuator_force":[2.8098838811274618e-09,-21.68537522527049,-20.28595086317182,-2.4133485358088365,0.0006248345682706713,2.9842794901924208e-12,-0.29336110797350384],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197375,-1.3048341218437383,-1.5707963267948963,-0.41200038876251055],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.78000000000119,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197375,-1.3048341218437383,-1.5707963267948963,-0.41200038876251055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.800000000001216,"qpos":[-1.9827967155574062,-1.5377242490709053,1.2717620441197348,-1.3048341218437396,-1.5707963267949026,-0.4120003887625136,0.002933611171260492,0.0001563015618210933,0.0031934794681147045,-0.003429298942698767,0.0029336110750460814,0.00015630110839854358,0.003197849386942312,-0.0034379968901584127,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999567,-1.702894976276698e-18,1.8954806732731936e-17,-2.9712619804355654e-07],"qvel":[2.1283662549059577e-12,6.529837633522997e-14,8.130908759524335e-13,2.847684277342701e-12,5.7975041887372355e-12,1.848973693808496e-14,8.989842827746836e-10,4.808501808033711e-09,-4.644992651141194e-09,-3.8823710504717724e-10,-7.677965542293973e-10,-3.100789078651315e-09,2.922826743119703e-09,2.7694446164902756e-10,-2.2700610883933592e-17,-4.032352027256073e-18,1.0921286139199725e-14,2.9279397826263783e-16,-7.123175899465939e-16,-5.380422736107884e-09],"joint_position_rad":[-1.9827967155574062,-1.5377242490709053,1.2717620441197348,-1.3048341218437396,-1.5707963267949026,-0.4120003887625136],"joint_velocity_rad_s":[2.1283662549059577e-12,6.529837633522997e-14,8.130908759524335e-13,2.847684277342701e-12,5.7975041887372355e-12,1.848973693808496e-14],"linkage_position_rad":[0.002933611171260492,0.0001563015618210933,0.0031934794681147045,-0.003429298942698767,0.0029336110750460814,0.00015630110839854358,0.003197849386942312,-0.0034379968901584127],"tcp_position_m":[0.07433918934878221,0.5047373576544978,0.4350000000000057],"tcp_quaternion_wxyz":[3.477595667814735e-16,0.7071067811865456,0.7071067811865489,7.432301172170013e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999567,-1.702894976276698e-18,1.8954806732731936e-17,-2.9712619804355654e-07],"object_linear_velocity_m_s":[-2.2700610883933592e-17,-4.032352027256073e-18,1.0921286139199725e-14],"object_angular_velocity_rad_s":[2.927935547621823e-16,-7.12317763958317e-16,-5.380422736107894e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221282375,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.261619068687722,-1.309660818918112,-1.5707950771321895,-0.41200038876251055,0.0],"actuator_force":[-8.540155249647796e-10,-21.6853752252905,-20.28595086435098,-2.413348537470938,0.0006248307768146333,-3.410605131648481e-13,-0.2933611129712673],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.4120003887625109],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.800000000001216,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.82000000000124,"qpos":[-1.9827967155574113,-1.5377242490709053,1.2717620441197326,-1.3048341218437474,-1.5707963267949179,-0.4120003887625136,0.002933611169927023,0.00015630155204524116,0.003193479476614279,-0.003429298940840045,0.002933611076009636,0.00015630111482819688,0.0031978493813646387,-0.003437996891195684,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999567,7.277820756346671e-18,2.7712410578891418e-17,-2.975871389850746e-07],"qvel":[1.686196741587937e-12,5.00653879256723e-15,5.056870484657615e-13,3.743538691190339e-12,9.008924287941939e-12,2.3002870116926185e-14,2.0482983866776712e-10,1.955010662441859e-09,-1.6730719759258526e-09,-3.325510781244079e-10,3.2072739016571933e-11,-1.2910644727756308e-09,1.3120297928115008e-09,6.237226390249713e-11,-3.46658906341149e-17,7.860488633628322e-18,1.0874101660653157e-14,2.483830972053845e-16,-4.664848055036488e-16,-2.162761110519191e-08],"joint_position_rad":[-1.9827967155574113,-1.5377242490709053,1.2717620441197326,-1.3048341218437474,-1.5707963267949179,-0.4120003887625136],"joint_velocity_rad_s":[1.686196741587937e-12,5.00653879256723e-15,5.056870484657615e-13,3.743538691190339e-12,9.008924287941939e-12,2.3002870116926185e-14],"linkage_position_rad":[0.002933611169927023,0.00015630155204524116,0.003193479476614279,-0.003429298940840045,0.002933611076009636,0.00015630111482819688,0.0031978493813646387,-0.003437996891195684],"tcp_position_m":[0.07433918934878944,0.504737357654498,0.4350000000000076],"tcp_quaternion_wxyz":[5.5258087527472775e-15,0.7071067811865478,0.7071067811865469,1.496317808583046e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999567,7.277820756346671e-18,2.7712410578891418e-17,-2.975871389850746e-07],"object_linear_velocity_m_s":[-3.46658906341149e-17,7.860488633628322e-18,1.0874101660653157e-14],"object_angular_velocity_rad_s":[2.4838281836687727e-16,-4.664849530199935e-16,-2.162761110519195e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221256332,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835375,1.2616190686877211,-1.3096608189181116,-1.5707950771321895,-0.4120003887625109,0.0],"actuator_force":[-6.671143637504429e-10,-21.685375225266398,-20.285950864225015,-2.4133485375564305,0.0006248304633800217,-9.663381206337363e-13,-0.29336111348134586],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625113],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.82000000000124,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.840000000001265,"qpos":[-1.9827967155574142,-1.5377242490709053,1.2717620441197326,-1.304834121843754,-1.5707963267949352,-0.4120003887625136,0.0029336111690857463,0.00015630154702465823,0.0031934794813367265,-0.0034292989407034265,0.0029336110763609185,0.00015630111799803283,0.0031978493781002937,-0.003437996891130636,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999567,6.1668498817886645e-18,2.2881837658851392e-17,-2.9781154512705344e-07],"qvel":[-2.500607546793947e-12,-2.0943829374172702e-14,-1.1304910924625523e-12,-2.2736774961224623e-12,-3.518421705274968e-12,1.1888998394724055e-14,-1.3346021904499961e-09,-7.0441653441992684e-09,6.9219937188716736e-09,4.1381913917968775e-10,1.286428885634111e-09,4.4799879144405085e-09,-4.079876264707693e-09,-4.2323487883891394e-10,-5.330297639043992e-17,1.687827703491009e-17,1.077279380965611e-14,-1.0815585156169527e-16,1.3431253408938376e-15,-8.69362102308951e-08],"joint_position_rad":[-1.9827967155574142,-1.5377242490709053,1.2717620441197326,-1.304834121843754,-1.5707963267949352,-0.4120003887625136],"joint_velocity_rad_s":[-2.500607546793947e-12,-2.0943829374172702e-14,-1.1304910924625523e-12,-2.2736774961224623e-12,-3.518421705274968e-12,1.1888998394724055e-14],"linkage_position_rad":[0.0029336111690857463,0.00015630154702465823,0.0031934794813367265,-0.0034292989407034265,0.0029336110763609185,0.00015630111799803283,0.0031978493781002937,-0.003437996891130636],"tcp_position_m":[0.07433918934879552,0.5047373576544976,0.43500000000000827],"tcp_quaternion_wxyz":[1.2521556199259336e-14,0.7071067811865489,0.7071067811865458,2.1043808584887325e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999567,6.1668498817886645e-18,2.2881837658851392e-17,-2.9781154512705344e-07],"object_linear_velocity_m_s":[-5.330297639043992e-17,1.687827703491009e-17,1.077279380965611e-14],"object_angular_velocity_rad_s":[-1.0815505554373036e-16,1.343125406385971e-15,-8.693621023089528e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221244066,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835375,1.2616190686877213,-1.3096608189181114,-1.5707950771321897,-0.4120003887625113,0.0],"actuator_force":[1.014086592476815e-09,-21.685375225256394,-20.28595086357018,-2.4133485369512755,0.0006248317246217994,-5.684341886080802e-14,-0.2933611120314667],"issued_joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.271762044119737,-1.304834121843738,-1.5707963267948968,-0.41200038876251055],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.840000000001265,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.271762044119737,-1.304834121843738,-1.5707963267948968,-0.41200038876251055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.86000000000129,"qpos":[-1.9827967155574044,-1.5377242490709053,1.2717620441197355,-1.3048341218437374,-1.5707963267948986,-0.4120003887625136,0.0029336111722028674,0.00015630156657790066,0.0031934794635260708,-0.0034292989431310623,0.0029336110741909668,0.00015630110531133593,0.0031978493898142534,-0.0034379968898232446,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999556,3.464289185014855e-18,2.1091345291802982e-17,-2.981411808607419e-07],"qvel":[1.90902146375237e-12,8.479949628307712e-14,7.538156711602581e-13,2.1227200440499797e-12,3.933411968090229e-12,1.603955594575747e-14,1.0599478910435185e-09,5.177692024972667e-09,-5.087336312409187e-09,-3.52835386187642e-10,-9.767539727060152e-10,-3.334074743724756e-09,3.1267645720873e-09,3.1603088829280373e-10,-2.5352312429547197e-17,5.945069724471143e-18,1.1583256617632477e-14,-2.1753667540752602e-16,-9.359448770497526e-16,-9.408013340421883e-09],"joint_position_rad":[-1.9827967155574044,-1.5377242490709053,1.2717620441197355,-1.3048341218437374,-1.5707963267948986,-0.4120003887625136],"joint_velocity_rad_s":[1.90902146375237e-12,8.479949628307712e-14,7.538156711602581e-13,2.1227200440499797e-12,3.933411968090229e-12,1.603955594575747e-14],"linkage_position_rad":[0.0029336111722028674,0.00015630156657790066,0.0031934794635260708,-0.0034292989431310623,0.0029336110741909668,0.00015630110531133593,0.0031978493898142534,-0.0034379968898232446],"tcp_position_m":[0.0743391893487802,0.5047373576544978,0.4350000000000054],"tcp_quaternion_wxyz":[-1.0462302126601528e-15,0.7071067811865452,0.7071067811865495,5.423743673132414e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999556,3.464289185014855e-18,2.1091345291802982e-17,-2.981411808607419e-07],"object_linear_velocity_m_s":[-2.5352312429547197e-17,5.945069724471143e-18,1.1583256617632477e-14],"object_angular_velocity_rad_s":[-2.1753723389176438e-16,-9.359447472711192e-16,-9.408013340421883e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221296327,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835373,1.2616190686877216,-1.3096608189181118,-1.5707950771321901,-0.41200038876251055,0.0],"actuator_force":[-7.698872650507838e-10,-21.68537522529823,-20.285950864329152,-2.413348537399429,0.0006248309608736236,-8.526512829121202e-14,-0.2933611127356613],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.4120003887625108],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.86000000000129,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.880000000001314,"qpos":[-1.9827967155574096,-1.5377242490709053,1.2717620441197335,-1.3048341218437438,-1.5707963267949099,-0.4120003887625136,0.0029336111703925985,0.00015630155540362838,0.003193479473610441,-0.0034292989413638075,0.0029336110757442343,0.00015630111260974753,0.0031978493834466707,-0.003437996890975018,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999556,2.2038683906557973e-17,5.5395016746465696e-18,-2.985519458018255e-07],"qvel":[2.276539098913573e-12,4.0115630327190784e-14,8.111094802191817e-13,3.730604172344182e-12,8.1955257332981e-12,2.054137677465748e-14,5.919226099849295e-10,3.852603483171715e-09,-3.5636780572653995e-09,-4.5888188227601943e-10,-3.9229594724269893e-10,-2.4993231348989715e-09,2.3763149221640563e-09,2.1504306138671528e-10,-4.715091525053503e-18,3.7962032204681374e-17,1.1745626734983907e-14,1.7326816170385322e-15,-1.3117874610180958e-15,-3.781726153850669e-08],"joint_position_rad":[-1.9827967155574096,-1.5377242490709053,1.2717620441197335,-1.3048341218437438,-1.5707963267949099,-0.4120003887625136],"joint_velocity_rad_s":[2.276539098913573e-12,4.0115630327190784e-14,8.111094802191817e-13,3.730604172344182e-12,8.1955257332981e-12,2.054137677465748e-14],"linkage_position_rad":[0.0029336111703925985,0.00015630155540362838,0.003193479473610441,-0.0034292989413638075,0.0029336110757442343,0.00015630111260974753,0.0031978493834466707,-0.003437996890975018],"tcp_position_m":[0.0743391893487862,0.5047373576544979,0.43500000000000694],"tcp_quaternion_wxyz":[2.5924317881568863e-15,0.7071067811865467,0.7071067811865474,1.1285162683530785e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999556,2.2038683906557973e-17,5.5395016746465696e-18,-2.985519458018255e-07],"object_linear_velocity_m_s":[-4.715091525053503e-18,3.7962032204681374e-17,1.1745626734983907e-14],"object_angular_velocity_rad_s":[1.7326808333458488e-15,-1.3117884939419135e-15,-3.7817261538506696e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221264694,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.548566936683537,1.2616190686877202,-1.3096608189181111,-1.5707950771321897,-0.4120003887625108,0.0],"actuator_force":[-9.06311470316723e-10,-21.685375225279586,-20.285950864350525,-2.413348537556658,0.0006248305405733845,-6.821210263296962e-13,-0.29336111330497494],"issued_joint_targets_rad":[-1.9827967155574076,-1.537724249070896,1.2717620441197373,-1.3048341218437383,-1.5707963267948968,-0.41200038876251055],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.880000000001314,"joint_targets_rad":[-1.9827967155574076,-1.537724249070896,1.2717620441197373,-1.3048341218437383,-1.5707963267948968,-0.41200038876251055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.900000000001338,"qpos":[-1.9827967155574142,-1.5377242490709053,1.2717620441197324,-1.304834121843752,-1.5707963267949283,-0.4120003887625136,0.0029336111685369236,0.00015630154508604663,0.003193479483573192,-0.0034292989408716214,0.002933611077126434,0.0001563011191677827,0.0031978493771190985,-0.003437996891268908,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999556,2.1575408207451848e-17,-9.735058151907791e-19,-2.9869533738423116e-07],"qvel":[3.220689459242467e-13,-2.458452246318973e-14,-1.1586118732602626e-13,2.55217877128172e-12,7.245987659663317e-12,2.518807370955151e-14,-4.14318859148656e-10,-1.415043707914778e-09,1.642726566862084e-09,-1.0989443594313874e-10,6.348176542925232e-10,8.560549798404478e-10,-6.490192563596707e-10,-1.4577190713975359e-10,-4.562956100321095e-19,2.4938003612830336e-17,1.1551337705674503e-14,-7.459041907288204e-16,-3.478397636267886e-16,-4.092486894788191e-09],"joint_position_rad":[-1.9827967155574142,-1.5377242490709053,1.2717620441197324,-1.304834121843752,-1.5707963267949283,-0.4120003887625136],"joint_velocity_rad_s":[3.220689459242467e-13,-2.458452246318973e-14,-1.1586118732602626e-13,2.55217877128172e-12,7.245987659663317e-12,2.518807370955151e-14],"linkage_position_rad":[0.0029336111685369236,0.00015630154508604663,0.003193479483573192,-0.0034292989408716214,0.002933611077126434,0.0001563011191677827,0.0031978493771190985,-0.003437996891268908],"tcp_position_m":[0.07433918934879369,0.5047373576544977,0.43500000000000816],"tcp_quaternion_wxyz":[9.563887139825188e-15,0.7071067811865489,0.7071067811865458,1.9001256472908367e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999556,2.1575408207451848e-17,-9.735058151907791e-19,-2.9869533738423116e-07],"object_linear_velocity_m_s":[-4.562956100321095e-19,2.4938003612830336e-17,1.1551337705674503e-14],"object_angular_velocity_rad_s":[-7.459043985169505e-16,-3.478393178539247e-16,-4.092486894788192e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221235192,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574076,-1.5485669366835377,1.2616190686877218,-1.309660818918112,-1.5707950771321897,-0.41200038876251055,0.0],"actuator_force":[-1.1550582712516189e-10,-21.68537522525503,-20.285950863974904,-2.4133485374352404,0.0006248306447105278,-1.0231815394945443e-12,-0.2933611133856619],"issued_joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.4120003887625109],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.900000000001338,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.920000000001362,"qpos":[-1.982796715557403,-1.5377242490709053,1.2717620441197364,-1.3048341218437365,-1.5707963267948963,-0.4120003887625136,0.0029336111732486247,0.000156301571409776,0.0031934794587832834,-0.0034292989434891283,0.0029336110731938633,0.0001563011021910319,0.0031978493927072218,-0.0034379968894839887,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999556,1.5894018346528192e-17,-2.0042823217266784e-17,-2.991463336537429e-07],"qvel":[1.5563223997971767e-12,9.408998378766295e-14,6.235118367377976e-13,1.4248260393251266e-12,2.326437933417705e-12,1.2554572258591299e-14,1.1562937444092621e-09,5.200706076404812e-09,-5.1911281548077245e-09,-2.8182381187148893e-10,-1.1111948323042592e-09,-3.3489322517145897e-09,3.1445317341705542e-09,3.204713884454024e-10,2.2389751645153395e-17,1.9556534159474824e-17,1.1438927624431207e-14,-7.41470425709183e-16,-3.2660385866284425e-16,-1.6450513157560036e-08],"joint_position_rad":[-1.982796715557403,-1.5377242490709053,1.2717620441197364,-1.3048341218437365,-1.5707963267948963,-0.4120003887625136],"joint_velocity_rad_s":[1.5563223997971767e-12,9.408998378766295e-14,6.235118367377976e-13,1.4248260393251266e-12,2.326437933417705e-12,1.2554572258591299e-14],"linkage_position_rad":[0.0029336111732486247,0.000156301571409776,0.0031934794587832834,-0.0034292989434891283,0.0029336110731938633,0.0001563011021910319,0.0031978493927072218,-0.0034379968894839887],"tcp_position_m":[0.0743391893487788,0.5047373576544978,0.43500000000000477],"tcp_quaternion_wxyz":[-1.7205755927870405e-15,0.7071067811865449,0.70710678118655,4.056325950475363e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999556,1.5894018346528192e-17,-2.0042823217266784e-17,-2.991463336537429e-07],"object_linear_velocity_m_s":[2.2389751645153395e-17,1.9556534159474824e-17,1.1438927624431207e-14],"object_angular_velocity_rad_s":[-7.414706204543149e-16,-3.2660341452353797e-16,-1.6450513157560046e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221311058,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574073,-1.5485669366835373,1.2616190686877211,-1.3096608189181118,-1.57079507713219,-0.4120003887625109,0.0],"actuator_force":[-6.316440703812987e-10,-21.68537522530187,-20.285950864279584,-2.41334853733008,0.0006248311206036306,8.526512829121202e-14,-0.293361112547619],"issued_joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625109],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.920000000001362,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.940000000001387,"qpos":[-1.9827967155574073,-1.5377242490709053,1.2717620441197346,-1.304834121843741,-1.5707963267949034,-0.4120003887625136,0.002933611171123105,0.00015630155981228121,0.00319347946951469,-0.0034292989419175955,0.0029336110751590943,0.00015630110975776624,0.003197849386073441,-0.0034379968906492675,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999556,9.059368580892167e-18,-2.944446893740093e-17,-2.994682181545628e-07],"qvel":[2.339304135517148e-12,7.041210605240606e-14,8.910975912509078e-13,3.124753037357868e-12,6.317116761079292e-12,1.7095040308680844e-14,8.559866451812447e-10,4.864682293074278e-09,-4.620012557310127e-09,-4.908378069094225e-10,-7.11937243496796e-10,-3.1428822949231626e-09,2.931224414958748e-09,3.120423317284729e-10,5.969004678521972e-17,1.5159716193523862e-17,1.1372314242953698e-14,-4.742347435546919e-16,-2.428049191657743e-15,-6.612590097521274e-08],"joint_position_rad":[-1.9827967155574073,-1.5377242490709053,1.2717620441197346,-1.304834121843741,-1.5707963267949034,-0.4120003887625136],"joint_velocity_rad_s":[2.339304135517148e-12,7.041210605240606e-14,8.910975912509078e-13,3.124753037357868e-12,6.317116761079292e-12,1.7095040308680844e-14],"linkage_position_rad":[0.002933611171123105,0.00015630155981228121,0.00319347946951469,-0.0034292989419175955,0.0029336110751590943,0.00015630110975776624,0.003197849386073441,-0.0034379968906492675],"tcp_position_m":[0.07433918934878297,0.504737357654498,0.43500000000000594],"tcp_quaternion_wxyz":[2.572387587394869e-16,0.7071067811865459,0.7071067811865486,8.178392688649032e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999556,9.059368580892167e-18,-2.944446893740093e-17,-2.994682181545628e-07],"object_linear_velocity_m_s":[5.969004678521972e-17,1.5159716193523862e-17,1.1372314242953698e-14],"object_angular_velocity_rad_s":[-4.742361939076528e-16,-2.4280489064227255e-15,-6.612590097521279e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221277145,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835368,1.2616190686877207,-1.3096608189181111,-1.5707950771321897,-0.4120003887625109,0.0],"actuator_force":[-9.36779542826116e-10,-21.68537522529141,-20.285950864384176,-2.4133485374976544,0.000624830725200809,-3.694822225952521e-13,-0.293361113034357],"issued_joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.41200038876251044],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.940000000001387,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.41200038876251044],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.96000000000141,"qpos":[-1.9827967155574122,-1.5377242490709053,1.271762044119733,-1.304834121843748,-1.5707963267949185,-0.4120003887625136,0.002933611168596316,0.00015630154663126583,0.0031934794824469604,-0.0034292989413272686,0.002933611077326047,0.00015630111812775635,0.003197849378135295,-0.003437996891179828,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999556,5.590353471440936e-18,-2.7215436232926086e-17,-2.99718947509177e-07],"qvel":[1.8527966355711614e-12,7.246505075968287e-15,5.544068548534216e-13,4.091445464824511e-12,9.812378610752994e-12,2.598134774211858e-14,2.0222258196469578e-10,2.0945310285325047e-09,-1.747640492288248e-09,-3.9756981397267136e-10,5.958617804665785e-11,-1.3810242442997805e-09,1.3824414557722784e-09,8.188859682205441e-11,3.193818088335259e-17,6.949889034474298e-18,1.1179412992425078e-14,-3.0380319623103514e-16,1.585589393118654e-15,-7.155975132455967e-09],"joint_position_rad":[-1.9827967155574122,-1.5377242490709053,1.271762044119733,-1.304834121843748,-1.5707963267949185,-0.4120003887625136],"joint_velocity_rad_s":[1.8527966355711614e-12,7.246505075968287e-15,5.544068548534216e-13,4.091445464824511e-12,9.812378610752994e-12,2.598134774211858e-14],"linkage_position_rad":[0.002933611168596316,0.00015630154663126583,0.0031934794824469604,-0.0034292989413272686,0.002933611077326047,0.00015630111812775635,0.003197849378135295,-0.003437996891179828],"tcp_position_m":[0.07433918934879014,0.5047373576544979,0.4350000000000075],"tcp_quaternion_wxyz":[5.9441823049924505e-15,0.7071067811865483,0.7071067811865464,1.4923993164348032e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999556,5.590353471440936e-18,-2.7215436232926086e-17,-2.99718947509177e-07],"object_linear_velocity_m_s":[3.193818088335259e-17,6.949889034474298e-18,1.1179412992425078e-14],"object_angular_velocity_rad_s":[-3.038022453791067e-16,1.585589575309528e-15,-7.155975132455975e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221237352,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835366,1.2616190686877202,-1.3096608189181111,-1.5707950771321895,-0.41200038876251044,0.0],"actuator_force":[-7.325979822780937e-10,-21.68537522526549,-20.285950864247297,-2.4133485375906503,0.0006248303833444879,-1.0231815394945443e-12,-0.293361113605162],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948963,-0.4120003887625106],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.96000000000141,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948963,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.980000000001436,"qpos":[-1.9827967155574076,-1.5377242490709053,1.271762044119735,-1.3048341218437458,-1.5707963267949185,-0.4120003887625136,0.0029336111714975436,0.0001563015620934605,0.00319347946768271,-0.0034292989426577625,0.002933611074364076,0.00015630110831899125,0.0031978493865519675,-0.0034379968898806228,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999556,1.4508187489750787e-18,-4.5209645452583295e-18,-3.0013206935344156e-07],"qvel":[-4.736316685625848e-12,5.720396414000196e-14,-1.3540465298443696e-12,-9.60049967032847e-12,-2.2723066684543167e-11,-7.342672764952392e-15,-1.6422647762419231e-09,-8.967743470090157e-09,8.471286943715929e-09,9.126475510547139e-10,1.0578666239012853e-09,5.907353844706059e-09,-5.9026163831783675e-09,-4.203561195634217e-10,4.505496580521621e-18,2.2202524501936148e-18,1.111557516850913e-14,-4.0688970935275367e-16,1.2618525830934253e-15,-2.8764774597436363e-08],"joint_position_rad":[-1.9827967155574076,-1.5377242490709053,1.271762044119735,-1.3048341218437458,-1.5707963267949185,-0.4120003887625136],"joint_velocity_rad_s":[-4.736316685625848e-12,5.720396414000196e-14,-1.3540465298443696e-12,-9.60049967032847e-12,-2.2723066684543167e-11,-7.342672764952392e-15],"linkage_position_rad":[0.0029336111714975436,0.0001563015620934605,0.00319347946768271,-0.0034292989426577625,0.002933611074364076,0.00015630110831899125,0.0031978493865519675,-0.0034379968898806228],"tcp_position_m":[0.07433918934878729,0.5047373576544977,0.4350000000000065],"tcp_quaternion_wxyz":[6.597020992217008e-15,0.7071067811865462,0.7071067811865485,1.3145499500943762e-14],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999556,1.4508187489750787e-18,-4.5209645452583295e-18,-3.0013206935344156e-07],"object_linear_velocity_m_s":[4.505496580521621e-18,2.2202524501936148e-18,1.111557516850913e-14],"object_angular_velocity_rad_s":[-4.068889516477379e-16,1.2618528274179654e-15,-2.8764774597436403e-08],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.09313513221287777,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835375,1.2616190686877213,-1.3096608189181118,-1.57079507713219,-0.4120003887625106,0.0],"actuator_force":[1.894022716442123e-09,-21.685375225287316,-20.285950863485596,-2.413348536222884,0.0006248336366070362,2.2168933355715126e-12,-0.2933611093710902],"issued_joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.4120003887625105],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.980000000001436,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.4120003887625105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":20.00000000000146,"qpos":[-1.9827967155574053,-1.5377242490709053,1.2717620441197355,-1.3048341218437385,-1.5707963267948986,-0.4120003887625136,0.002933611172028108,0.00015630156466834463,0.003193479464907049,-0.003429298942448175,0.002933611074348709,0.00015630110662310717,0.003197849388934062,-0.003437996890269883,-0.14707126968342268,0.495568911061207,0.29989224457978336,0.9999999999999556,-7.0859675483302935e-22,1.5678537814358274e-18,-3.002411366517933e-07],"qvel":[2.105488835202065e-12,8.889567378720728e-14,8.301696781717012e-13,2.347978141119049e-12,4.327749528027873e-12,1.6294848888955253e-14,1.0311563623202626e-09,5.296704551391366e-09,-5.121313397742731e-09,-4.607567336007987e-10,-9.386228421881178e-10,-3.418101813128171e-09,3.166363762878448e-09,3.6106497048475287e-10,7.931483696559993e-19,8.04258981267691e-19,1.1055900680935525e-14,-8.936233158420846e-17,5.309313229943102e-16,-3.1128500129942945e-09],"joint_position_rad":[-1.9827967155574053,-1.5377242490709053,1.2717620441197355,-1.3048341218437385,-1.5707963267948986,-0.4120003887625136],"joint_velocity_rad_s":[2.105488835202065e-12,8.889567378720728e-14,8.301696781717012e-13,2.347978141119049e-12,4.327749528027873e-12,1.6294848888955253e-14],"linkage_position_rad":[0.002933611172028108,0.00015630156466834463,0.003193479464907049,-0.003429298942448175,0.002933611074348709,0.00015630110662310717,0.003197849388934062,-0.003437996890269883],"tcp_position_m":[0.07433918934878082,0.5047373576544981,0.4350000000000052],"tcp_quaternion_wxyz":[-1.2773905014803004e-15,0.7071067811865458,0.7071067811865491,5.793681840030705e-15],"object_position_m":[-0.14707126968342268,0.495568911061207,0.29989224457978336],"object_quaternion_wxyz":[0.9999999999999556,-7.0859675483302935e-22,1.5678537814358274e-18,-3.002411366517933e-07],"object_linear_velocity_m_s":[7.931483696559993e-19,8.04258981267691e-19,1.1055900680935525e-14],"object_angular_velocity_rad_s":[-8.936201277910565e-17,5.309313766547067e-16,-3.1128500129942986e-09],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"pad_center_separation_m":0.0931351322129153,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827967155574078,-1.5485669366835373,1.2616190686877211,-1.3096608189181114,-1.57079507713219,-0.4120003887625105,0.0],"actuator_force":[-8.471943147014827e-10,-21.685375225299595,-20.28595086436053,-2.413348537421143,0.0006248309215379777,-8.526512829121202e-14,-0.29336111278150845],"issued_joint_targets_rad":null,"issued_gripper_0_255":null,"command":null,"observation_origin":"privileged_native_simulator_state"}],"actions":[{"t_seconds":0.0,"joint_targets_rad":[-1.5659834323004498,-1.567925489606039,1.5225878225330225,-1.5256882747695169,-1.5707656071911813,0.004801830240783159],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.02000000000000001,"joint_targets_rad":[-1.5656534490871443,-1.567832085219888,1.5216984895189944,-1.524889092879983,-1.5707634637812156,0.00513199551328589],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.04000000000000003,"joint_targets_rad":[-1.5652227482930015,-1.5675454663509036,1.51819417419275,-1.5216685845373223,-1.5707609984372397,0.005562739941335935],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.060000000000000046,"joint_targets_rad":[-1.5647789619762846,-1.5670613417065398,1.5134521713382356,-1.5174118938028291,-1.5707611261094654,0.006006540692108629],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.08000000000000006,"joint_targets_rad":[-1.5643267903391556,-1.566560219684762,1.5086401758169077,-1.5131025541104115,-1.5707614560971208,0.00645870635925736],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.10000000000000007,"joint_targets_rad":[-1.5638743050696227,-1.5660413664934554,1.5038061629308375,-1.5087888923094583,-1.5707617538361707,0.006911184997025196],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.12000000000000009,"joint_targets_rad":[-1.56342208395052,-1.5655047409077067,1.4989531811101364,-1.5044739806563312,-1.5707620091197936,0.007363400313223424],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.1400000000000001,"joint_targets_rad":[-1.56297016127348,-1.5649503294600149,1.4940813011817058,-1.5001579084074061,-1.5707622249006563,0.007815318097702022],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.16000000000000011,"joint_targets_rad":[-1.5625185376253912,-1.5643781178342635,1.489190402186485,-1.4958405747522658,-1.5707624046535673,0.008266937743012414],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.18000000000000013,"joint_targets_rad":[-1.562067211941723,-1.5637880887345317,1.4842803475275337,-1.4915218657748186,-1.5707625515916983,0.008718260278806012],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.20000000000000015,"joint_targets_rad":[-1.5616161835342208,-1.5631802218222766,1.4793509962993923,-1.4872016658093883,-1.57076266863988,0.009169286352644745],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.22000000000000017,"joint_targets_rad":[-1.5611654521984235,-1.5625544937427969,1.4744022039539064,-1.4828798581218867,-1.5707627584552208,0.009620016125205222],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.24000000000000019,"joint_targets_rad":[-1.56071501820067,-1.5619108781467026,1.4694338222681422,-1.4785563248989548,-1.5707628234493327,0.010070449285076038],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.2600000000000002,"joint_targets_rad":[-1.5602648822607112,-1.5612493457009529,1.4644456992604646,-1.4742309471919801,-1.5707628658092094,0.01052058506748171],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.2800000000000002,"joint_targets_rad":[-1.5598150455374218,-1.5605698640890968,1.4594376790966714,-1.4699036048583174,-1.5707628875166022,0.010970422269549255],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.3000000000000002,"joint_targets_rad":[-1.5593655096179257,-1.5598723980005047,1.4544096019884638,-1.4655741765025287,-1.5707628903659279,0.011419959261874654],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.32000000000000023,"joint_targets_rad":[-1.5589162765103222,-1.559156909108494,1.4493613040839406,-1.461242539417738,-1.5707628759807757,0.011869193996279847],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.34000000000000025,"joint_targets_rad":[-1.5584673486399114,-1.5584233560370409,1.4442926173494424,-1.4569085695270416,-1.5707628458290888,0.01231812400991002],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.36000000000000026,"joint_targets_rad":[-1.5580187288489578,-1.5576716943156914,1.4392033694419757,-1.4525721413248323,-1.570762801237093,0.012766746425656596],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.3800000000000003,"joint_targets_rad":[-1.557570420400179,-1.5569018763222517,1.434093383571391,-1.4482331278178853,-1.570762743402057,0.01321505794877369],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.4000000000000003,"joint_targets_rad":[-1.5571224269840276,-1.5561138512125676,1.428962478351247,-1.4438914004660377,-1.5707626734039588,0.013663054859629969],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.4200000000000003,"joint_targets_rad":[-1.5566747527298677,-1.5553075648365176,1.4238104676370984,-1.439546829122274,-1.5707625922161421,0.014110733002510686],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.44000000000000034,"joint_targets_rad":[-1.5562274022215716,-1.5544829596393328,1.4186371603509085,-1.4351992819719825,-1.5707625007150319,0.014558087769976724],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.46000000000000035,"joint_targets_rad":[-1.5557803805176376,-1.5536399745467968,1.4134423602897808,-1.430848625471191,-1.5707623996889855,0.015005114082679016],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.48000000000000037,"joint_targets_rad":[-1.5553336931764024,-1.5527785448328035,1.408225865917086,-1.4264947242835233,-1.570762289846348,0.015451806364063651],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.5000000000000003,"joint_targets_rad":[-1.5548873462868689,-1.5518986019672534,1.40298747013358,-1.4221374412156347,-1.5707621718227724,0.015898158509464168],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.5200000000000004,"joint_targets_rad":[-1.5544413465060214,-1.551000073441963,1.3977269600257394,-1.4177766371507956,-1.5707620461878697,0.01634416384870702],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.5400000000000004,"joint_targets_rad":[-1.55399570110309,-1.5500828825713484,1.3924441165877515,-1.4134121709804277,-1.5707619134512425,0.016789815101777877],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.5600000000000004,"joint_targets_rad":[-1.5535504180122701,-1.5491469482644389,1.3871387144131822,-1.4090438995331518,-1.5707617740679547,0.017235104326048783],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.5800000000000004,"joint_targets_rad":[-1.5531055058950114,-1.5481921847635367,1.381810521351215,-1.4046716775010384,-1.5707616284434862,0.017680022853943888],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.6000000000000004,"joint_targets_rad":[-1.552660974213669,-1.5472185013439665,1.3764592981213608,-1.4002953573626074,-1.5707614769382188,0.018124561219280386],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.6200000000000004,"joint_targets_rad":[-1.5522168333183373,-1.546225801967754,1.3710847978789638,-1.3959147893021577,-1.5707613198714871,0.018568709070436937],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.6400000000000005,"joint_targets_rad":[-1.5517730945500996,-1.5452139848828146,1.3656867657223168,-1.3915298211247475,-1.5707611575252425,0.019012455067146838],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.6600000000000005,"joint_targets_rad":[-1.5513297703630742,-1.5441829421561026,1.360264938129263,-1.387140298166348,-1.570760990147352,0.019455786758529988],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.6800000000000005,"joint_targets_rad":[-1.550886874470248,-1.5431325591271694,1.3548190423087005,-1.3827460631982278,-1.5707608179545738,0.019898690437374245],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.7000000000000005,"joint_targets_rad":[-1.5504444220181286,-1.5420627137640313,1.3493487954479222,-1.378346956324714,-1.5707606411352282,0.020341150965661765],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.7200000000000005,"joint_targets_rad":[-1.5500024297972261,-1.5409732758982708,1.3438539038314015,-1.373942814873116,-1.5707604598515923,0.02078315156431925],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.7400000000000005,"joint_targets_rad":[-1.5495609164974289,-1.5398641063092342,1.3383340617993167,-1.3695334732743905,-1.5707602742420417,0.02122467355815946],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.7600000000000006,"joint_targets_rad":[-1.5491199030205052,-1.5387350556177226,1.3327889505041672,-1.3651187629326522,-1.5707600844229528,0.021665696063794482],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.7800000000000006,"joint_targets_rad":[-1.5486794128651766,-1.5375859629358335,1.327218236409661,-1.3606985120812596,-1.5707598904903852,0.022106195605107112],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.8000000000000006,"joint_targets_rad":[-1.5482394726072641,-1.5364166542016742,1.3216215694570952,-1.3562725456222335,-1.5707596925215512,0.022546145633809418],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.8200000000000006,"joint_targets_rad":[-1.547800112504399,-1.5352269401002916,1.315998580796196,-1.3518406849449636,-1.5707594905760887,0.022985515925664706],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.8400000000000006,"joint_targets_rad":[-1.5473613672669175,-1.5340166134334334,1.3103488799369685,-1.34740274771863,-1.5707592846971272,0.023424271810810183],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.8600000000000007,"joint_targets_rad":[-1.5469232770546992,-1.5327854457432695,1.304672051119277,-1.3429585476505674,-1.570759074912156,0.023862373178549078],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.8800000000000007,"joint_targets_rad":[-1.5464858887858617,-1.5315331829072312,1.2989676486055501,-1.3385078941997846,-1.5707588612336716,0.02429977317084188],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.9000000000000007,"joint_targets_rad":[-1.5460492578854579,-1.5302595392850882,1.2932351904606625,-1.3340505922299772,-1.570758643659587,0.02473641643660455],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.9200000000000007,"joint_targets_rad":[-1.5456134506690509,-1.5289641897814346,1.2874741501569302,-1.3295864415789793,-1.5707584221733468,0.025172236752312872],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.9400000000000007,"joint_targets_rad":[-1.5451785476666051,-1.5276467588274105,1.281683944969576,-1.3251152365095766,-1.5707581967436832,0.025607153704044587],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.9600000000000007,"joint_targets_rad":[-1.5447446483816323,-1.526306804671288,1.2758639194918053,-1.3206367649867903,-1.5707579673238714,0.026041067937028026],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.9800000000000008,"joint_targets_rad":[-1.544546666485252,-1.5255686854371355,1.2730389338162462,-1.3185369453770643,-1.5707597033608396,0.02623960514406331],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.0000000000000007,"joint_targets_rad":[-1.5445449980675976,-1.5253687380365555,1.2727632143210188,-1.3184370041475284,-1.5707631387864038,0.026242228272914225],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.0199999999999985,"joint_targets_rad":[-1.5445432751393517,-1.525200718273305,1.2725298689001923,-1.318349534994157,-1.570766365189729,0.026244815901687896],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.0399999999999963,"joint_targets_rad":[-1.5445416035864405,-1.5250607054615375,1.272333827871218,-1.3182732644323722,-1.5707692516291079,0.026247269547323746],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.059999999999994,"joint_targets_rad":[-1.5445400021796631,-1.5249439950482229,1.2721690947766988,-1.318206750034559,-1.5707718301164106,0.02624957852913347],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.0799999999999919,"joint_targets_rad":[-1.5445384774046658,-1.5248465949995973,1.2720305427160834,-1.3181487186419822,-1.5707741398557988,0.026251743551129626],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.0999999999999897,"joint_targets_rad":[-1.5445370327357937,-1.5247651979290369,1.2719138771633902,-1.3180980537961962,-1.5707762147684625,0.02625376760113004],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.1199999999999875,"joint_targets_rad":[-1.544535669896787,-1.5246970716696229,1.2718155123139416,-1.318053781005648,-1.5707780833599492,0.026255654778887017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.1399999999999852,"joint_targets_rad":[-1.5445343892327927,-1.5246399595561564,1.2717324566195152,-1.3180150527494425,-1.5707797696679997,0.026257409993353135],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.159999999999983,"joint_targets_rad":[-1.5459847247058387,-1.5394851320142713,1.3518637637330992,-1.3828962785116783,-1.5708222964592427,0.02481082677994315],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.1799999999999808,"joint_targets_rad":[-1.5460000984622218,-1.5393310749051972,1.3502412955889618,-1.3814338759151363,-1.5708220524002738,0.02479555815298449],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.1999999999999786,"joint_targets_rad":[-1.5459776763520923,-1.5392588062525063,1.350467332110075,-1.381744836231892,-1.570821382356136,0.024817970525240093],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.2199999999999764,"joint_targets_rad":[-1.545936495589831,-1.5396374834280278,1.3539555348318995,-1.384861035679501,-1.570820947907712,0.0248591163078315],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.2399999999999742,"joint_targets_rad":[-1.5458975296191833,-1.5403772007116872,1.359040349170497,-1.3892054883068712,-1.5708208487638986,0.024898067042556666],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.259999999999972,"joint_targets_rad":[-1.5458708695340313,-1.5410940433735774,1.3641834024418242,-1.3936306587960985,-1.570820764235764,0.02492474285143366],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.2799999999999698,"joint_targets_rad":[-1.545845290320321,-1.5417920661261655,1.3693109071384975,-1.3980592785224935,-1.5708206713966735,0.024950337883112367],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.2999999999999676,"joint_targets_rad":[-1.5458197664537532,-1.5424713469734543,1.374415443543003,-1.4024838804718622,-1.570820568835519,0.02497587507590933],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.3199999999999654,"joint_targets_rad":[-1.5457942122851345,-1.5431319743821972,1.3794966384287703,-1.4069039847092408,-1.5708204573327764,0.025001440289963886],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.3399999999999632,"joint_targets_rad":[-1.5457686288643688,-1.5437740253561838,1.3845547281003614,-1.4113197299946372,-1.5708203378293384,0.025027032863506153],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.359999999999961,"joint_targets_rad":[-1.5457430242824013,-1.5443975721052723,1.3895899900238475,-1.4157313027696765,-1.5708202112226595,0.025052645044711653],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.3799999999999588,"joint_targets_rad":[-1.5457174065381143,-1.545002682688039,1.39460269193841,-1.4201388857968014,-1.570820078345895,0.025078269115960436],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.3999999999999566,"joint_targets_rad":[-1.5456917829685624,-1.5455894212300019,1.3995930883314862,-1.4245426542550685,-1.5708199399665448,0.025103897972226688],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.4199999999999544,"joint_targets_rad":[-1.5456661602668251,-1.546157848097166,1.4045614210925408,-1.4289427760471287,-1.5708197967880513,0.025129525111749797],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.4399999999999522,"joint_targets_rad":[-1.545640544545834,-1.5467080200627186,1.4095079204538101,-1.433339412415006,-1.570819649452417,0.025155144579342422],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.45999999999995,"joint_targets_rad":[-1.5456149414001743,-1.5472399904680465,1.4144328058747322,-1.437732718521029,-1.5708194985433954,0.025180750910481903],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.4799999999999478,"joint_targets_rad":[-1.5455893559622444,-1.5477538093765315,1.4193362868459158,-1.4421228439699365,-1.5708193445900118,0.025206339079998155],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.4999999999999456,"joint_targets_rad":[-1.545563792953059,-1.5482495237188783,1.4242185636167355,-1.4465099332760494,-1.570819188070252,0.025231904455278422],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.5199999999999434,"joint_targets_rad":[-1.5455382567282496,-1.5487271774292182,1.4290798278528571,-1.450894126281271,-1.5708190294147892,0.02525744275355446],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.5399999999999412,"joint_targets_rad":[-1.5455127513197997,-1.5491868115715661,1.4339202632297705,-1.4552755585292194,-1.5708188690106606,0.025282950002888976],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.559999999999939,"joint_targets_rad":[-1.5454872804739828,-1.5496284644565113,1.4387400459680597,-1.4596543616003017,-1.5708187072048312,0.02530842250648591],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.5799999999999368,"joint_targets_rad":[-1.5454618476859423,-1.5500521717481697,1.4435393453156236,-1.4640306634119358,-1.5708185443075995,0.025333856809954456],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.5999999999999346,"joint_targets_rad":[-1.54543645623129,-1.5504579665615812,1.4483183239817106,-1.4684045884877648,-1.570818380595823,0.02535924967124898],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.6199999999999324,"joint_targets_rad":[-1.5454111091950804,-1.5508458795507845,1.4530771385271124,-1.4727762581991888,-1.5708182163159383,0.025384598032952538],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.6399999999999302,"joint_targets_rad":[-1.545385809498481,-1.5512159389878557,1.4578159397145274,-1.47714579098225,-1.5708180516867791,0.025409898996653284],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.659999999999928,"joint_targets_rad":[-1.5453605599234252,-1.5515681708332036,1.462534872822656,-1.4815133025325202,-1.5708178869021834,0.025435149799158733],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.6799999999999258,"joint_targets_rad":[-1.5453353631355298,-1.5519025987973838,1.4672340779272321,-1.4858789059803688,-1.570817722133398,0.025460347790291108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.6999999999999236,"joint_targets_rad":[-1.5453102217055092,-1.5522192443946894,1.4719136901518632,-1.490242712048722,-1.5708175575312853,0.025485490412067664],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.7199999999999214,"joint_targets_rad":[-1.5452851381293482,-1.5525181269887,1.4765738398911716,-1.494604829195177,-1.570817393228342,0.025510575179020313],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.7399999999999192,"joint_targets_rad":[-1.5452601148474339,-1.5527992638299297,1.4812146530084491,-1.4989653637401361,-1.5708172293405407,0.025535599659468004],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.759999999999917,"joint_targets_rad":[-1.5452351542628764,-1.553062670085625,1.4858362510097307,-1.5033244199824445,-1.5708170659690055,0.02556056145754276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.7799999999999148,"joint_targets_rad":[-1.54521025875923,-1.5533083588616998,1.4904387511958745,-1.5076821003038103,-1.5708169032015327,0.025585458195743892],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.7999999999999126,"joint_targets_rad":[-1.5451854307178152,-1.553536341216676,1.495022266794008,-1.512038505263214,-1.570816741113966,0.025610287497859485],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.8199999999999104,"joint_targets_rad":[-1.545160672534861,-1.553746626167398,1.4995869070693706,-1.516393733682281,-1.5708165797714442,0.025635046972014967],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.8399999999999082,"joint_targets_rad":[-1.545135986638688,-1.5539392206861578,1.5041327774183462,-1.5207478827225624,-1.5708164192295224,0.025659734193661292],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.859999999999906,"joint_targets_rad":[-1.5451113755071624,-1.5541141296887304,1.5086599794431932,-1.5251010479555096,-1.5708162595351849,0.025684346688263204],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.8799999999999037,"joint_targets_rad":[-1.545086841685662,-1.5542713560126211,1.5131686110086806,-1.5294533234258552,-1.570816100727756,0.025708881913448868],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.8999999999999015,"joint_targets_rad":[-1.545062387805839,-1.5544109003846547,1.5176587662805292,-1.5338048017090138,-1.570815942839716,0.02573333724035545],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.9199999999998993,"joint_targets_rad":[-1.5450380170188205,-1.5545327425416846,1.522130461649932,-1.5381555189411884,-1.570815785891456,0.025757709521900655],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.9399999999998971,"joint_targets_rad":[-1.5450137322342223,-1.5546368646915874,1.5265837197757637,-1.5425055151046625,-1.570815629899621,0.025781995851455596],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.959999999999895,"joint_targets_rad":[-1.544989536201673,-1.5547232645136058,1.5310186259945304,-1.5468548772408701,-1.5708154748827472,0.025806193481266868],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.9799999999998927,"joint_targets_rad":[-1.5449654321380921,-1.554791937285629,1.5354352637233029,-1.551203692940875,-1.570815320855912,0.02583029919710853],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.9999999999998905,"joint_targets_rad":[-1.544941423483693,-1.554842876021864,1.5398337129209656,-1.5555520486749748,-1.5708151678301958,0.02585430956167264],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.0199999999998886,"joint_targets_rad":[-1.5449175139152753,-1.5548760713695613,1.5442140498612453,-1.5599000296627326,-1.570815015813048,0.025878220901294654],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.0399999999998863,"joint_targets_rad":[-1.5448937073812774,-1.5548915114830253,1.548576347030475,-1.5642477198902398,-1.5708148648086788,0.025902029270969833],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.059999999999884,"joint_targets_rad":[-1.544870008143563,-1.5548891818699642,1.5529206730044642,-1.568595202134814,-1.5708147148184104,0.025925730412635684],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.079999999999882,"joint_targets_rad":[-1.5448464208259538,-1.5548690652047803,1.5572470922889443,-1.5729425579870393,-1.5708145658409842,0.02594931970672537],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.0999999999998797,"joint_targets_rad":[-1.544822950471005,-1.5548311411016873,1.5615556651157236,-1.5772898678693388,-1.5708144178728314,0.02597279211548257],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.1199999999998775,"joint_targets_rad":[-1.544799602607065,-1.554775385838518,1.565846447185307,-1.581637211050944,-1.5708142709083002,0.02599614211600571],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.1399999999998753,"joint_targets_rad":[-1.544776383328243,-1.554701772019363,1.570119489343902,-1.5859846656590288,-1.5708141249398535,0.026019363620408974],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.159999999999873,"joint_targets_rad":[-1.5447532993907191,-1.5546102681605483,1.5743748371790183,-1.5903323086856842,-1.5708139799582246,0.026042449879658387],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.179999999999871,"joint_targets_rad":[-1.5447303583299197,-1.5545008381794503,1.5786125305126053,-1.5946802159902096,-1.5708138359525392,0.026065393366582777],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.1999999999998687,"joint_targets_rad":[-1.5447075686046208,-1.5543734407587135,1.5828326027635065,-1.5990284622959545,-1.5708136929104028,0.026088185631997142],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.2199999999998665,"joint_targets_rad":[-1.5446849397761997,-1.554228028548654,1.587035080140876,-1.603377121180647,-1.5708135508179424,0.02611081712573757],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.2399999999998643,"joint_targets_rad":[-1.5446624827343634,-1.554064547156635,1.5912199806156782,-1.607726265058651,-1.5708134096598045,0.0261332769713003],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.259999999999862,"joint_targets_rad":[-1.5446402099852328,-1.5538829338517501,1.5953873125962432,-1.612075965152951,-1.5708132694190988,0.026155552678231074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.27999999999986,"joint_targets_rad":[-1.5446181360244593,-1.5536831158827389,1.5995370732023386,-1.6164262914536702,-1.5708131300772714,0.026177629769634555],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.2999999999998577,"joint_targets_rad":[-1.5445962778284132,-1.5534650082607528,1.6036692459843085,-1.6207773126584366,-1.570812991613891,0.02619949129182377],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.3199999999998555,"joint_targets_rad":[-1.5445746555127493,-1.553228510786356,1.6077837978590308,-1.6251290960875775,-1.5708128540063133,0.02622111715689894],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.3399999999998533,"joint_targets_rad":[-1.5445532932338117,-1.5529735039842274,1.6118806749144614,-1.6294817075633978,-1.5708127172291773,0.026242483242934444],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.359999999999851,"joint_targets_rad":[-1.5445322204519079,-1.5526998434171138,1.6159597965358652,-1.6338352112366155,-1.5708125812536546,0.026263560132984816],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.379999999999849,"joint_targets_rad":[-1.5445114737505978,-1.5524073515209647,1.6200210469655636,-1.6381896693323856,-1.5708124460463275,0.026284311299128324],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.3999999999998467,"joint_targets_rad":[-1.5445042797347206,-1.5521879180482994,1.6215500451982838,-1.639951244527422,-1.5708114107672926,0.02629154029214759],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.4199999999998445,"joint_targets_rad":[-1.544505828613567,-1.5520455243399547,1.6214224857102688,-1.6399862821999405,-1.57080987210341,0.026290042764457837],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.4399999999998423,"joint_targets_rad":[-1.5445072121877441,-1.551929276404166,1.62131995509749,-1.6400181947759203,-1.5708084950455525,0.026288705135670193],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.45999999999984,"joint_targets_rad":[-1.5445084463169603,-1.5518355229963094,1.6212387581011856,-1.640047128305028,-1.5708072679967569,0.026287512306691182],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.479999999999838,"joint_targets_rad":[-1.544509548552876,-1.5517600942169143,1.6211747486321906,-1.6400732987213313,-1.5708061732135559,0.026286447226303626],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.4999999999998357,"joint_targets_rad":[-1.544510534355125,-1.5516995190953595,1.6211245087764405,-1.6400969278520523,-1.5708051948544102,0.0262854948593538],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.5199999999998335,"joint_targets_rad":[-1.5445114171517154,-1.5516509696515404,1.6210852806517324,-1.640118235529536,-1.5708043192239955,0.026284642153469324],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.5399999999998313,"joint_targets_rad":[-1.5445122086252585,-1.5516121472778255,1.621054843893433,-1.6401374332169327,-1.5708035344739968,0.026283877761093557],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.559999999999829,"joint_targets_rad":[-1.5445129189707252,-1.5515811847961616,1.6210314118418572,-1.640154720184698,-1.57080283031714,0.026283191787157576],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.579999999999827,"joint_targets_rad":[-1.5445135571116912,-1.551556566236748,1.6210135475960301,-1.6401702815295092,-1.570802197788733,0.02628257557716834],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.5999999999998247,"joint_targets_rad":[-1.5445141308811847,-1.5515370614456818,1.6210000963672884,-1.6401842874208163,-1.570801629049476,0.02628202153997433],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.6199999999998225,"joint_targets_rad":[-1.5445146471733904,-1.5515216728064094,1.6209901309415427,-1.6401968931394248,-1.5708011172218883,0.026281522999099236],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.6399999999998203,"joint_targets_rad":[-1.544515112071388,-1.5515095918360362,1.6209829076789872,-1.640208239607989,-1.5708006562540253,0.02628107406761517],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.659999999999818,"joint_targets_rad":[-1.5445155309551157,-1.5515001638305848,1.6209778309948153,-1.6402184542090656,-1.5708002408054313,0.026280669542431485],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.679999999999816,"joint_targets_rad":[-1.544515908592966,-1.5514928590711055,1.6209744246738733,-1.6402276517532872,-1.5707998661512752,0.026280304814664625],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.6999999999998137,"joint_targets_rad":[-1.5445162492197861,-1.5514872493775917,1.6209723086975905,-1.6402359355068266,-1.5707995281014167,0.026279975793375404],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.7199999999998115,"joint_targets_rad":[-1.5445165566035404,-1.5514829890217057,1.62097118052082,-1.6402433982195885,-1.5707992229317769,0.026279678840441547],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.7399999999998093,"joint_targets_rad":[-1.544516834077745,-1.5514798104642458,1.620970811680237,-1.6402501248591494,-1.5707989474012096,0.02627941074808161],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.759999999999807,"joint_targets_rad":[-1.5445170846728251,-1.5514774777709088,1.6209710003045077,-1.640256188657113,-1.5707986984698477,0.026279168582629294],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.779999999999805,"joint_targets_rad":[-1.5445173110691535,-1.551475805543601,1.6209715914720226,-1.6402616556435607,-1.5707984734660412,0.026278949756166955],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.7999999999998026,"joint_targets_rad":[-1.5445175156646294,-1.551474650148997,1.620972468919767,-1.6402665858560892,-1.5707982700311778,0.02627875195732584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.8199999999998004,"joint_targets_rad":[-1.5445177006059938,-1.5514738968320025,1.6209735422735967,-1.6402710331887846,-1.5707980860541235,0.02627857311765782],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.8399999999997982,"joint_targets_rad":[-1.5445178678196076,-1.5514734537914479,1.6209747414349103,-1.6402750459728335,-1.570797919638951,0.026278411381270607],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.859999999999796,"joint_targets_rad":[-1.5445180190359111,-1.5514732477624595,1.620976012459546,-1.6402786675584085,-1.5707977690811015,0.02627826508111089],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.879999999999794,"joint_targets_rad":[-1.5445181558106542,-1.551473220459891,1.6209773142689479,-1.6402819368422277,-1.570797632846823,0.026278132718437056],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.8999999999997916,"joint_targets_rad":[-1.5445182795435788,-1.5514733256900597,1.6209786160011275,-1.6402848887399526,-1.5707975095550681,0.026278012944775025],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.9199999999997894,"joint_targets_rad":[-1.5445183914949236,-1.5514735270040085,1.6209798948766447,-1.640287554607937,-1.5707973979614827,0.026277904545987815],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.9399999999997872,"joint_targets_rad":[-1.5445184928000268,-1.5514737957919886,1.620981134481672,-1.6402899626192948,-1.570797296944218,0.0262778064281868],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.959999999999785,"joint_targets_rad":[-1.5445185844822782,-1.5514741097376064,1.6209823233889553,-1.6402921380990219,-1.5707972054913324,0.02627771760524737],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.979999999999783,"joint_targets_rad":[-1.5445186674646263,-1.551474451565,1.6209834540523747,-1.6402941038225676,-1.570797122689585,0.026277637187717286],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.9999999999997806,"joint_targets_rad":[-1.54451874257982,-1.5514748080246537,1.6209845219228542,-1.6402958802818466,-1.5707970477144488,0.026277564372955187],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.0199999999997784,"joint_targets_rad":[-1.5445188105795333,-1.5514751690734125,1.620985524743194,-1.640297485922307,-1.5707969798212056,0.026277498436343385],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.039999999999776,"joint_targets_rad":[-1.5445188721425156,-1.5514755272124352,1.620986461987357,-1.6402989373543027,-1.5707969183369825,0.026277438723443975],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.059999999999774,"joint_targets_rad":[-1.5445189278818712,-1.551475876953497,1.6209873344162278,-1.6403002495416361,-1.5707968626536306,0.026277384642992608],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.079999999999772,"joint_targets_rad":[-1.544518978351578,-1.5514762143894874,1.6209881437271456,-1.6403014359698747,-1.570796812221343,0.026277335660633012],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.0999999999997696,"joint_targets_rad":[-1.544519023712516,-1.5514765435872035,1.620988894532022,-1.640302501507862,-1.5707967668146845,0.0262772916383078],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.1199999999997674,"joint_targets_rad":[-1.5445190634408494,-1.5514769762487062,1.6209897009567822,-1.640303501430131,-1.5707967305290103,0.026277253169531552],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.139999999999765,"joint_targets_rad":[-1.5445190978418606,-1.551477356811719,1.6209904192659714,-1.6403044044960262,-1.5707967017967213,0.02627722051683427],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.159999999999763,"joint_targets_rad":[-1.5445191313373225,-1.5514776793950613,1.6209910438671604,-1.6403052057416176,-1.5707966690767374,0.0262771882474913],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.179999999999761,"joint_targets_rad":[-1.544519161443846,-1.5514779848643567,1.6209916193733402,-1.6403059320691438,-1.5707966395072401,0.02627716014738613],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.1999999999997586,"joint_targets_rad":[-1.5445191888237764,-1.5514782671882228,1.6209921435720616,-1.6403065883379748,-1.570796612748059,0.026277134153488195],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.2199999999997564,"joint_targets_rad":[-1.5445383798845895,-1.5545491001602751,1.5771132473648717,-1.593575872842806,-1.5707807903625388,0.026257985376521974],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.239999999999754,"joint_targets_rad":[-1.5445365117999712,-1.5546548363813142,1.5760749414326185,-1.5924305769895053,-1.570780867724084,0.026259844683051106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.259999999999752,"joint_targets_rad":[-1.5445410193867768,-1.5547235736448761,1.5725282468883732,-1.5888141544953387,-1.5707808879844816,0.026255344257437523],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.27999999999975,"joint_targets_rad":[-1.5445463124932575,-1.5548048076192484,1.56831013167983,-1.5845152752183878,-1.5707807739016983,0.02625006002224543],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.2999999999997476,"joint_targets_rad":[-1.5445464456405504,-1.5548683583584255,1.5640455182016741,-1.5801878151284676,-1.5707806313178625,0.02624992329050489],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.3199999999997454,"joint_targets_rad":[-1.544546283313433,-1.554914289738048,1.5597616138651549,-1.5758586971081088,-1.5707804876321412,0.026250081645244807],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.339999999999743,"joint_targets_rad":[-1.5445461147116675,-1.5549425863164938,1.5554600818598796,-1.5715295876666506,-1.5707803444017956,0.026250246625991944],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.359999999999741,"joint_targets_rad":[-1.5445459564762614,-1.5549532444411662,1.5511409489865777,-1.5672005172785617,-1.5707802015723349,0.02625040160203224],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.3799999999997388,"joint_targets_rad":[-1.5445458091785282,-1.554946259775848,1.5468041369325363,-1.5628714126943948,-1.570780059006564,0.026250545971581433],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.3999999999997366,"joint_targets_rad":[-1.544545672624179,-1.5549216268276782,1.5424495590697007,-1.558542193493376,-1.5707799165749383,0.026250679898931196],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.4199999999997344,"joint_targets_rad":[-1.544545546568088,-1.5548793388216893,1.5380771262928563,-1.5542127780086579,-1.5707797741585992,0.026250803601575362],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.439999999999732,"joint_targets_rad":[-1.5445454307680897,-1.5548193876710354,1.533686747241259,-1.5498830835820712,-1.5707796316484222,0.026250917296387042],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.45999999999973,"joint_targets_rad":[-1.5445453249915948,-1.5547417639657053,1.5292783282878954,-1.5455530265694577,-1.5707794889439615,0.02625102119284689],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.4799999999997278,"joint_targets_rad":[-1.5445452290146742,-1.5546464569557943,1.5248517735035152,-1.541222522325906,-1.5707793459524777,0.026251115493800343],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.4999999999997256,"joint_targets_rad":[-1.544545142620693,-1.5545334545311897,1.520406984609251,-1.536891485182804,-1.5707792025880625,0.026251200396662417],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.5199999999997234,"joint_targets_rad":[-1.5445450655990374,-1.5544027431991907,1.5159438609274274,-1.5325598284247681,-1.5707790587708583,0.026251276094540043],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.539999999999721,"joint_targets_rad":[-1.5445449977439234,-1.5542543080599547,1.5114622993308209,-1.5282274642668505,-1.5707789144263626,0.026251342777286326],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.559999999999719,"joint_targets_rad":[-1.544544938853278,-1.5540881327796905,1.5069621941897091,-1.5238943038314794,-1.5707787694848048,0.02625140063248443],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.5799999999997167,"joint_targets_rad":[-1.5445448887238884,-1.5539041998241125,1.5024434381741447,-1.5195602577171956,-1.5707786238808221,0.026251449850170458],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.5999999999997145,"joint_targets_rad":[-1.5445448464933105,-1.5537025361893326,1.4979060717360355,-1.5152253392476234,-1.5707784775943756,0.02625149127982534],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.6199999999997123,"joint_targets_rad":[-1.5445448126650791,-1.5534831200317616,1.493349983803446,-1.5108894595781348,-1.5707783305656748,0.026251524408828237],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.63999999999971,"joint_targets_rad":[-1.5445447870634237,-1.5532459289017146,1.4887750590431275,-1.5065525262139956,-1.5707781827351994,0.026251549403121084],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.659999999999708,"joint_targets_rad":[-1.5445447694762198,-1.5529909386996847,1.4841811790448922,-1.5022144452187076,-1.570778034046007,0.02625156646580797],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.6799999999997057,"joint_targets_rad":[-1.5445447596884496,-1.5527181236486174,1.4795682225142752,-1.4978751214348225,-1.5707778844435831,0.02625157580371529],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.6999999999997035,"joint_targets_rad":[-1.5445447574836062,-1.5524274562486826,1.4749360652131454,-1.4935344584716779,-1.5707777338755156,0.02625157762590967],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.7199999999997013,"joint_targets_rad":[-1.5445447626428017,-1.5521189072295904,1.4702845798839124,-1.4891923586791118,-1.5707775822911818,0.026251572144529427],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.739999999999699,"joint_targets_rad":[-1.544544774943756,-1.5517924454996175,1.465613636168901,-1.4848487231195031,-1.5707774296414694,0.026251559575726266],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.759999999999697,"joint_targets_rad":[-1.5445447941597867,-1.551448038091106,1.4609231005254573,-1.4805034515389288,-1.570777275878515,0.026251540140617407],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.7799999999996947,"joint_targets_rad":[-1.5445448200587808,-1.551085650102188,1.4562128361365188,-1.476156442337449,-1.5707771209554666,0.026251514066265302],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.7999999999996925,"joint_targets_rad":[-1.5445448524021506,-1.5507052446344332,1.4514827028162816,-1.4718075925384555,-1.570776964826262,0.02625148158666444],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.8199999999996903,"joint_targets_rad":[-1.5445448909437636,-1.5503067827260681,1.4467325569105134,-1.4674567977570074,-1.570776807445429,0.026251442943775342],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.839999999999688,"joint_targets_rad":[-1.5445449354288305,-1.5498902232803817,1.4419622511910597,-1.463103952167088,-1.5707766487678905,0.026251398388589035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.859999999999686,"joint_targets_rad":[-1.5445449855927473,-1.5494555229888503,1.4371716347439918,-1.4587489484677152,-1.5707764887487907,0.026251348182250365],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.8799999999996837,"joint_targets_rad":[-1.5445450411598691,-1.5490026362484597,1.4323605528507781,-1.4543916778478174,-1.5707763273433253,0.02625129259725153],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.8999999999996815,"joint_targets_rad":[-1.5445451018422227,-1.5485315150726082,1.4275288468617904,-1.4500320299498126,-1.570776164506582,0.026251231918685017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.9199999999996793,"joint_targets_rad":[-1.544545167338115,-1.5480421089948906,1.422676354061323,-1.4456698928317788,-1.5707760001933886,0.026251166445607665],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.939999999999677,"joint_targets_rad":[-1.5445452373306485,-1.5475343649649391,1.4178029075232326,-1.4413051529281484,-1.5707758343581655,0.026251096492500427],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.959999999999675,"joint_targets_rad":[-1.544545311486109,-1.5470082272353785,1.4129083359561225,-1.4369376950088188,-1.5707756669547814,0.026251022390854688],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.9799999999996727,"joint_targets_rad":[-1.544545389452212,-1.5464636372387754,1.4079924635368428,-1.4325674021365498,-1.5707754979364132,0.02625094449090466],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.9999999999996705,"joint_targets_rad":[-1.544545470856183,-1.5459005334533071,1.4030551097309083,-1.4281941556225755,-1.5707753272554044,0.02625086316352669],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.019999999999677,"joint_targets_rad":[-1.5445455553026453,-1.5453188512556013,1.398096089098139,-1.4238178349802395,-1.5707751548631232,0.026250778802330305],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.039999999999684,"joint_targets_rad":[-1.544545642371284,-1.5447185227589848,1.3931152110816079,-1.4194383178765633,-1.5707749807098206,0.02625069182598078],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.0599999999996905,"joint_targets_rad":[-1.5445457316142563,-1.544099476634996,1.3881122797775838,-1.4150554800815445,-1.5707748047444792,0.026250602680767735],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.079999999999697,"joint_targets_rad":[-1.5445458225532918,-1.543461637915655,1.3830870936837636,-1.4106691954150279,-1.570774626914662,0.02625051184349042],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.099999999999704,"joint_targets_rad":[-1.544545914676453,-1.5428049277734692,1.3780394454225446,-1.4062793356909156,-1.5707744471663463,0.026250419824685272],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.119999999999711,"joint_targets_rad":[-1.5445460074344826,-1.5421292632755608,1.3729691214354887,-1.401885770658506,-1.5707742654437518,0.026250327172256345],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.139999999999717,"joint_targets_rad":[-1.544546100236676,-1.5414345571075243,1.367875901644279,-1.397488367940656,-1.5707740816891518,0.02625023447559843],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.159999999999724,"joint_targets_rad":[-1.544546192446194,-1.5407207172617183,1.362759559072543,-1.3930869929684704,-1.5707738958426691,0.026250142370262335],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.179999999999731,"joint_targets_rad":[-1.5445462833747183,-1.5399876466834626,1.3576198594216176,-1.3886815089121332,-1.570773707842047,0.026250051543287536],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.199999999999737,"joint_targets_rad":[-1.5445463722763253,-1.5392352428671328,1.3524565605917793,-1.3842717766074355,-1.570773517622398,0.026249962739315017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.219999999999744,"joint_targets_rad":[-1.5445464583404385,-1.5384633973922102,1.3472694121384254,-1.379857654477472,-1.5707733251159164,0.02624987676761719],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.239999999999751,"joint_targets_rad":[-1.544546540683673,-1.537671995386843,1.342058154650108,-1.3754389984488788,-1.5707731302515522,0.026249794510238535],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.259999999999757,"joint_targets_rad":[-1.5445466183403571,-1.5368609149032413,1.3368225190318948,-1.3710156618618183,-1.5707729329546318,0.026249716931454652],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.279999999999764,"joint_targets_rad":[-1.5445466902514529,-1.5360300261849615,1.3315622256731157,-1.3665874953727772,-1.5707727331464194,0.026249645088831826],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.299999999999771,"joint_targets_rad":[-1.5445467552515375,-1.5351791908004577,1.3262769834725927,-1.362154346848974,-1.570772530743597,0.02624958014622549],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.319999999999777,"joint_targets_rad":[-1.5445468120534085,-1.5343082606096743,1.3209664886865393,-1.3577160612529044,-1.5707723256576447,0.026249523389145206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.339999999999784,"joint_targets_rad":[-1.5445468592297764,-1.5334170765200528,1.3156304235534702,-1.3532724805151102,-1.5707721177940932,0.026249476243036633],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.359999999999791,"joint_targets_rad":[-1.5445468951913313,-1.532505466974052,1.3102684546355685,-1.3488234433927258,-1.570771907051615,0.02624944029517487],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.379999999999797,"joint_targets_rad":[-1.5445469181603046,-1.5315732460902456,1.3048802307951335,-1.3443687853105983,-1.5707716933208924,0.026249417321064925],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.399999999999804,"joint_targets_rad":[-1.5445469261383398,-1.530620211351609,1.299465380695113,-1.3399083381807209,-1.5707714764832108,0.026249409316517057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.419999999999811,"joint_targets_rad":[-1.5445469168671524,-1.529646140693479,1.2940235096699588,-1.335441930194218,-1.5707712564086653,0.026249418536922673],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.439999999999817,"joint_targets_rad":[-1.544546887779956,-1.5286507887829766,1.2885541957500037,-1.3309693855779772,-1.5707710329538516,0.02624944754575346],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.459999999999824,"joint_targets_rad":[-1.5445468359409742,-1.527633882190349,1.2830569845277346,-1.3264905243048393,-1.5707708059588368,0.026249499274950877],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.479999999999831,"joint_targets_rad":[-1.5445467579694292,-1.526595113011822,1.2775313824081767,-1.3220051617414494,-1.5707705752431185,0.026249577100810616],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.4999999999998375,"joint_targets_rad":[-1.5445466499432077,-1.5255341302805903,1.2719768475545012,-1.3175131082105171,-1.5707703406001183,0.02624968494016145],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.519999999999844,"joint_targets_rad":[-1.5445465072757318,-1.5244505281387872,1.2663927774630932,-1.313014168432377,-1.5707701017895104,0.026249827373287692],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.539999999999851,"joint_targets_rad":[-1.5445463245575572,-1.5233438291293624,1.2607784914668916,-1.3085081407914507,-1.5707698585262482,0.026250009802068427],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.5599999999998575,"joint_targets_rad":[-1.5445455518499116,-1.5224604633078171,1.2565778474049496,-1.3051853769639996,-1.570770286254625,0.026250780731821053],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.579999999999864,"joint_targets_rad":[-1.5445433161980955,-1.5222511247652424,1.2562906131127074,-1.3050832606921983,-1.5707725141204167,0.026253010603280266],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.599999999999871,"joint_targets_rad":[-1.5445412477978937,-1.5220740378107838,1.2560460556346376,-1.3049935429023787,-1.5707745752269842,0.026255073389926834],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.6199999999998775,"joint_targets_rad":[-1.5445393438454924,-1.5219264711034777,1.2558406618687963,-1.3049153781258511,-1.5707764732985323,0.02625697267683776],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.639999999999884,"joint_targets_rad":[-1.5445375937036514,-1.5218035290511318,1.2556681979529,-1.3048472749415054,-1.5707782185140573,0.026258719053426083],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.659999999999891,"joint_targets_rad":[-1.5445359872107074,-1.5217009920951616,1.2555232578021327,-1.3047879080582974,-1.5707798208550843,0.02626032258031985],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.679999999999898,"joint_targets_rad":[-1.544534514470413,-1.521615358012259,1.2554013083954028,-1.3047361171588105,-1.570781290087665,0.02626179305124583],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.699999999999904,"joint_targets_rad":[-1.5445331659101147,-1.521543733909118,1.2552985674068475,-1.3046908917908806,-1.5707826356796513,0.026263139942137297],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.719999999999911,"joint_targets_rad":[-1.544531932346266,-1.5214837312373681,1.2552118821371967,-1.3046513549982115,-1.5707838667287157,0.026264372347787734],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.739999999999918,"joint_targets_rad":[-1.5804794174735028,-1.5362118389323085,1.287421659100633,-1.3219740495902268,-1.570881015312828,-0.009600480547846606],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.759999999999924,"joint_targets_rad":[-1.581686478122671,-1.5362509403762874,1.2859969918219996,-1.3205118052754985,-1.570853398585556,-0.010808010259985554],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.779999999999931,"joint_targets_rad":[-1.5849289103424433,-1.5371013938150757,1.2864326563362218,-1.3200978095310925,-1.5708469765870157,-0.014050634101764953],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.799999999999938,"joint_targets_rad":[-1.588380527940611,-1.5379454692036627,1.2871440430432817,-1.3199656611284196,-1.5708506798911879,-0.017502091733907186],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.819999999999944,"joint_targets_rad":[-1.5918346552039462,-1.5387765509155944,1.2878753622309018,-1.3198662635449352,-1.5708551960669583,-0.02095606226324795],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.839999999999951,"joint_targets_rad":[-1.5952913014804464,-1.5395939749954237,1.2885948136293854,-1.3197686830237945,-1.570859401005661,-0.02441256194470391],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.859999999999958,"joint_targets_rad":[-1.5987498832127607,-1.5403976576037723,1.2892992383485615,-1.319669855229142,-1.5708632168493288,-0.02787100755685641],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.879999999999964,"joint_targets_rad":[-1.6022102722005258,-1.5411875633483074,1.289988324503719,-1.3195695002015533,-1.5708666682793366,-0.031331270076467854],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.899999999999971,"joint_targets_rad":[-1.605672371772107,-1.541963663712191,1.290662068379828,-1.3194676380035888,-1.570869788074121,-0.034793252013104285],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.919999999999978,"joint_targets_rad":[-1.609136088049376,-1.5427259312583546,1.291320495783134,-1.3193643175016174,-1.5708726070445167,-0.03825685875744534],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.939999999999984,"joint_targets_rad":[-1.612601328298259,-1.5434743394914963,1.2919636335011575,-1.3192595881356546,-1.5708751532390384,-0.041721996925989505],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.959999999999991,"joint_targets_rad":[-1.616068000563079,-1.5442088628546098,1.2925915070400964,-1.319153497612825,-1.5708774521105793,-0.0451885739866468],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.979999999999998,"joint_targets_rad":[-1.6195360135272545,-1.5449294766324113,1.2932041404524648,-1.31904609177454,-1.5708795267422,-0.04865649811114042],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.000000000000004,"joint_targets_rad":[-1.6230052764372351,-1.5456361568772226,1.293801556371574,-1.3189374146544772,-1.5708813980606529,-0.052125678091461666],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.020000000000011,"joint_targets_rad":[-1.6264756990372664,-1.5463288803527853,1.2943837761020593,-1.3188275085801462,-1.5708830850333662,-0.055596023268006965],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.040000000000018,"joint_targets_rad":[-1.6299471915105903,-1.547007624484816,1.2949508197079602,-1.3187164142703491,-1.5708846048483236,-0.05906744346493586],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.0600000000000245,"joint_targets_rad":[-1.6334196644265526,-1.5476723673173298,1.2955027060909041,-1.3186041709215677,-1.57088597307794,-0.06253984893211238],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.080000000000031,"joint_targets_rad":[-1.6368930286931191,-1.548323087474555,1.2960394530610981,-1.3184908162856444,-1.570887203828317,-0.06601315029307803],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.100000000000038,"joint_targets_rad":[-1.6403671955144055,-1.5489597641276969,1.2965610774019336,-1.3183763867398581,-1.5708883098751183,-0.06948725849856488],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.1200000000000445,"joint_targets_rad":[-1.6438420763528538,-1.5495823769658907,1.297067594928561,-1.3182609173499968,-1.570889302787183,-0.0729620847851414],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.140000000000051,"joint_targets_rad":[-1.6473175828956916,-1.550190906170823,1.2975590205409249,-1.3181444419270898,-1.5708901930389392,-0.07643754063854717],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.160000000000058,"joint_targets_rad":[-1.6507936270253374,-1.5507853323945537,1.2980353682717076,-1.3180269930783877,-1.5708909901125752,-0.07991353776135063],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.1800000000000646,"joint_targets_rad":[-1.654270120793433,-1.5513656367401494,1.298496651329633,-1.31790860225315,-1.5708917025908757,-0.0833899880445525],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.200000000000071,"joint_targets_rad":[-1.6577469763982209,-1.5519318007447704,1.2989428821385063,-1.3177892997837128,-1.5708923382415358,-0.08686680354282106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.220000000000078,"joint_targets_rad":[-1.6612241061649808,-1.5524838063649153,1.2993740723723577,-1.3176691149222781,-1.5708929040937112,-0.09034389645303192],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.240000000000085,"joint_targets_rad":[-1.6647014225292838,-1.553021635963556,1.2997902329870337,-1.3175480758738343,-1.5708934065075029,-0.09382117909585048],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.260000000000091,"joint_targets_rad":[-1.6681788380228224,-1.5535452722989218,1.3001913742485172,-1.3174262098255423,-1.570893851237001,-0.09729856390008158],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.280000000000098,"joint_targets_rad":[-1.671656265261599,-1.5540546985147425,1.3005775057582842,-1.3173035429729398,-1.5708942434874793,-0.10077596338953967],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.300000000000105,"joint_targets_rad":[-1.6751336169362778,-1.5545498981317567,1.300948636475937,-1.3171801005432366,-1.5708945879672624,-0.10425329017224334],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.320000000000111,"joint_targets_rad":[-1.6786108058045095,-1.5550308550403293,1.3013047747393345,-1.3170559068159686,-1.5708948889347583,-0.10773045693170509],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.340000000000118,"joint_targets_rad":[-1.682087744685065,-1.5554975534940463,1.3016459282824646,-1.3169309851412636,-1.5708951502410904,-0.11120737642014657],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.360000000000125,"joint_targets_rad":[-1.685564346453611,-1.5559499781041435,1.3019721042512151,-1.3168053579559265,-1.5708953753687427,-0.11468396145346382],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.380000000000131,"joint_targets_rad":[-1.6890405240399915,-1.556388113834673,1.3022833092172248,-1.3166790467975247,-1.5708955674665732,-0.11816012490777664],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.400000000000138,"joint_targets_rad":[-1.6925161904268764,-1.5568119459982979,1.3025795491899863,-1.3165520723166846,-1.5708957293815453,-0.12163577971743605],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.420000000000145,"joint_targets_rad":[-1.6959912586496584,-1.5572214602526362,1.3028608296273283,-1.3164244542877355,-1.5708958636874668,-0.12511083887434088],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.440000000000151,"joint_targets_rad":[-1.6994656417974818,-1.5576166425970648,1.3031271554444004,-1.316296211617845,-1.570895972711024,-0.12858521542845383],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.460000000000158,"joint_targets_rad":[-1.702939253015306,-1.5579974793699167,1.3033785310212842,-1.3161673623547887,-1.5708960585553575,-0.1320588224894027],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.480000000000165,"joint_targets_rad":[-1.706412005506896,-1.5583639572460077,1.3036149602093285,-1.316037923693467,-1.5708961231214151,-0.13553157322906312],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.500000000000171,"joint_targets_rad":[-1.7098838125386673,-1.558716063234432,1.3038364463362981,-1.315907911981269,-1.5708961681272788,-0.13900338088503045],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.520000000000178,"joint_targets_rad":[-1.713354587444291,-1.5590537846765753,1.3040429922104098,-1.3157773427223842,-1.5708961951256677,-0.14247415876489664],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.540000000000185,"joint_targets_rad":[-1.7168242436299952,-1.5593771092443018,1.3042346001233496,-1.3156462305811514,-1.5708962055197797,-0.14594382025125419],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.5600000000001915,"joint_targets_rad":[-1.720292694580489,-1.5596860249382636,1.3044112718523009,-1.3155145893845097,-1.5708962005776288,-0.14941227880735697],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.580000000000198,"joint_targets_rad":[-1.7237598538654437,-1.559980520086298,1.3045730086610643,-1.3153824321236278,-1.5708961814450253,-0.1528794479833605],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.600000000000205,"joint_targets_rad":[-1.72722563514648,-1.5602605833418812,1.3047198113003131,-1.3152497709547806,-1.5708961491573168,-0.156345241423092],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.6200000000002115,"joint_targets_rad":[-1.730689952184602,-1.5605262036825907,1.3048516800069994,-1.315116617199497,-1.5708961046500174,-0.1598095728712957],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.640000000000218,"joint_targets_rad":[-1.7341527188480292,-1.560777370408562,1.304968614502986,-1.3149829813440665,-1.5708960487684227,-0.163272356181287],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.660000000000225,"joint_targets_rad":[-1.7376138491203852,-1.5610140731408972,1.305070613992892,-1.3148488730384102,-1.5708959822763087,-0.16673350532298722],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.6800000000002315,"joint_targets_rad":[-1.741073257109193,-1.56123630182001,1.3051576771612068,-1.3147143010943763,-1.5708959058638001,-0.17019293439127345],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.700000000000238,"joint_targets_rad":[-1.7445308570546412,-1.5614440467038668,1.3052298021686584,-1.3145792734834694,-1.5708958201544918,-0.1736505576146244],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.720000000000245,"joint_targets_rad":[-1.747986563338589,-1.5616372983661186,1.3052869866478758,-1.3144437973340612,-1.5708957257118858,-0.17710628936400408],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.740000000000252,"joint_targets_rad":[-1.7514402904937656,-1.561816047694083,1.3053292276983348,-1.3143078789280833,-1.570895623045216,-0.18056004416195856],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.760000000000258,"joint_targets_rad":[-1.7548919532131413,-1.56198028588656,1.3053565218805898,-1.3141715236972291,-1.570895512614714,-0.1840117366918979],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.780000000000265,"joint_targets_rad":[-1.758341466359435,-1.5621300044514679,1.3053688652097923,-1.3140347362186686,-1.5708953948363715,-0.18746128180751448],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.800000000000272,"joint_targets_rad":[-1.7617887449747316,-1.5622651952032656,1.3053662531484977,-1.3138975202103014,-1.570895270086247,-0.19090859454232717],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.820000000000278,"joint_targets_rad":[-1.7652337042901802,-1.562385850260141,1.3053486805987204,-1.3137598785255202,-1.5708951387043593,-0.1943535901193104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.840000000000285,"joint_targets_rad":[-1.7686762597357553,-1.5624919620409563,1.3053161418932486,-1.3136218131475172,-1.5708950009982066,-0.19779618396059118],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.860000000000292,"joint_targets_rad":[-1.772116326950048,-1.5625835232619127,1.3052686307861816,-1.3134833251831028,-1.5708948572459491,-0.20123629169718893],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.880000000000298,"joint_targets_rad":[-1.7755538217900648,-1.5626605269329237,1.3052061404426638,-1.3133444148560458,-1.5708947076992843,-0.20467382917875965],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.900000000000305,"joint_targets_rad":[-1.7789886603410239,-1.5627229663536675,1.3051286634277834,-1.3132050814999112,-1.5708945525860456,-0.20810871248335047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.920000000000312,"joint_targets_rad":[-1.782420758926109,-1.5627708351092988,1.3050361916946018,-1.3130653235503844,-1.5708943921125518,-0.21154085792710953],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.940000000000318,"joint_targets_rad":[-1.785850034116176,-1.5628041270657949,1.3049287165712629,-1.3129251385370542,-1.570894226465729,-0.2149701820739595],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.960000000000325,"joint_targets_rad":[-1.7892764027393853,-1.5628228363649075,1.3048062287471391,-1.3127845230746413,-1.5708940558150275,-0.2183966017451949],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.980000000000332,"joint_targets_rad":[-1.792699781890734,-1.5628269574186942,1.3046687182579522,-1.312643472853626,-1.570893880314154,-0.221820034028985],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.000000000000338,"joint_targets_rad":[-1.796120088941486,-1.5628164849036028,1.3045161744698073,-1.3125019826302478,-1.5708937001026342,-0.22524039628977863],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.020000000000345,"joint_targets_rad":[-1.7995372415484554,-1.5627914137540722,1.304348586062067,-1.3123600462158351,-1.5708935153072259,-0.22865760617756503],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.040000000000352,"joint_targets_rad":[-1.80295115766315,-1.5627517391556194,1.304165941008989,-1.312217656465419,-1.5708933260431928,-0.23207158163699498],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.060000000000358,"joint_targets_rad":[-1.8063617555407272,-1.5626974565373748,1.3039682265600387,-1.3120748052655784,-1.5708931324154565,-0.23548224091631936],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.080000000000365,"joint_targets_rad":[-1.809768953748769,-1.5626285615640267,1.3037554292187659,-1.3119314835214437,-1.5708929345196323,-0.2388895025761477],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.100000000000372,"joint_targets_rad":[-1.8131726711758323,-1.562545050127129,1.3035275347201487,-1.3117876811428126,-1.5708927324429653,-0.24229328549798632],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.1200000000003785,"joint_targets_rad":[-1.8165728270397667,-1.5624469183357272,1.3032845280062766,-1.3116433870292878,-1.5708925262651752,-0.24569350889254227],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.140000000000385,"joint_targets_rad":[-1.8199693408957707,-1.5623341625062526,1.3030263932002315,-1.3114985890543513,-1.570892316059216,-0.24909009230776835],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.160000000000392,"joint_targets_rad":[-1.8233621326441596,-1.5622067791516177,1.3027531135780122,-1.311353274048284,-1.5708921018919613,-0.2524829556366262],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.1800000000003985,"joint_targets_rad":[-1.8267511225378312,-1.562064764969459,1.3024646715383372,-1.3112074277798185,-1.5708918838248178,-0.2558720191245409],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.200000000000405,"joint_targets_rad":[-1.8301362311893883,-1.5619081168294529,1.3021610485701314,-1.3110610349364111,-1.5708916619142834,-0.2592572033765227],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.220000000000412,"joint_targets_rad":[-1.8335173795778925,-1.5617368317596236,1.301842225217481,-1.3109140791029934,-1.5708914362124404,-0.262638429363911],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.2400000000004185,"joint_targets_rad":[-1.8368944890552257,-1.561550906931563,1.3015081810418179,-1.3107665427390476,-1.570891206767406,-0.26601561843073657],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.260000000000425,"joint_targets_rad":[-1.8402674813520137,-1.5613503396444528,1.301158894581072,-1.3106184071538487,-1.5708909736237284,-0.26938869229964446],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.280000000000432,"joint_targets_rad":[-1.8436362785830802,-1.5611351273077942,1.3007943433054763,-1.3104696524796666,-1.5708907368227487,-0.27275757307734555],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.300000000000439,"joint_targets_rad":[-1.847000803252392,-1.5609052674227084,1.3004145035696943,-1.3103202576427204,-1.570890496402917,-0.27612218325956256],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.320000000000445,"joint_targets_rad":[-1.8503609782574417,-1.5606607575616827,1.300019350560897,-1.3101702003316487,-1.5708902524000774,-0.27948244573541775],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.340000000000452,"joint_targets_rad":[-1.8537167268930255,-1.5604015953465953,1.2996088582423322,-1.3100194569632004,-1.5708900048477212,-0.2828382837912103],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.360000000000459,"joint_targets_rad":[-1.8570679728543549,-1.5601277784248506,1.299182999291918,-1.3098680026448553,-1.570889753777209,-0.28618962111353624],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.380000000000465,"joint_targets_rad":[-1.8604146402394435,-1.5598393044434198,1.298741745035302,-1.3097158111340095,-1.5708894992179654,-0.28953638179167773],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.400000000000472,"joint_targets_rad":[-1.86375665355069,-1.5595361710205644,1.2982850653727471,-1.3095628547933265,-1.5708892411976507,-0.292878490319198],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.420000000000479,"joint_targets_rad":[-1.8670939376955855,-1.5592183757149782,1.2978129286991276,-1.3094091045417864,-1.5708889797423091,-0.29621587159465096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.440000000000485,"joint_targets_rad":[-1.8704264179864518,-1.5588859159920585,1.2973253018162134,-1.3092545298009282,-1.570888714876494,-0.2995484509213355],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.460000000000492,"joint_targets_rad":[-1.8737540201391014,-1.5585387891869582,1.296822149836296,-1.3090990984356536,-1.5708884466233741,-0.3028761540059626],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.480000000000499,"joint_targets_rad":[-1.8770766702703106,-1.5581769924640354,1.2963034360760621,-1.308942776688924,-1.570888175004819,-0.3061989069561433],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.500000000000505,"joint_targets_rad":[-1.8803942948939594,-1.5578005227722402,1.2957691219394631,-1.3087855291095272,-1.570887900041469,-0.3095166362765452],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.520000000000512,"joint_targets_rad":[-1.8837068209156886,-1.5574093767959316,1.2952191667881352,-1.308627318472012,-1.5708876217527858,-0.31282926886356366],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.540000000000519,"joint_targets_rad":[-1.8870141756258902,-1.5570035509004945,1.2946535277976596,-1.3084681056876877,-1.5708873401570853,-0.31613673199833525],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.560000000000525,"joint_targets_rad":[-1.8903162866908167,-1.5565830410720676,1.2940721597977094,-1.308307849705446,-1.5708870552715528,-0.3194389533378641],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.580000000000532,"joint_targets_rad":[-1.8936130821415669,-1.5561478428505418,1.2934750150937617,-1.308146507400929,-1.5708867671122426,-0.32273586090403655],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.600000000000539,"joint_targets_rad":[-1.8969044903606564,-1.5556979512548514,1.2928620432676639,-1.3079840334523123,-1.570886475694059,-0.3260273830702184],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.6200000000005454,"joint_targets_rad":[-1.900190440065831,-1.5552333606994162,1.2922331909538614,-1.307820380200667,-1.5708861810307198,-0.3293134485450998],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.640000000000552,"joint_targets_rad":[-1.9034708602907204,-1.554754064900349,1.2915884015874572,-1.3076554974924672,-1.5708858831346955,-0.33259398635338394],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.660000000000559,"joint_targets_rad":[-1.9067456803618514,-1.554260056769819,1.2909276151196105,-1.307489332501373,-1.5708855820171328,-0.33586892581284367],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.6800000000005655,"joint_targets_rad":[-1.9100148298714408,-1.5537513282966005,1.2902507676948152,-1.3073218295258144,-1.570885277687753,-0.3391381965071595],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.700000000000572,"joint_targets_rad":[-1.9132782386452856,-1.5532278704104696,1.2895577912835618,-1.307152929758243,-1.570884970154722,-0.3424017282538647],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.720000000000579,"joint_targets_rad":[-1.916535836704899,-1.5526896728275992,1.2888486132624581,-1.3069825710209961,-1.5708846594244912,-0.34565945106654417],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.7400000000005855,"joint_targets_rad":[-1.919787554222891,-1.552136723873485,1.2881231559321968,-1.3068106874626628,-1.570884345501607,-0.34891129511028424],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.760000000000592,"joint_targets_rad":[-1.923033321470328,-1.5515690102791564,1.2873813359615707,-1.3066372092074328,-1.5708840283884766,-0.35215719064911993],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.780000000000599,"joint_targets_rad":[-1.9262730687545415,-1.5509865169454424,1.2866230637430063,-1.3064620619481826,-1.5708837080850884,-0.35539706798393744],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.800000000000606,"joint_targets_rad":[-1.9295067263454813,-1.550389226668765,1.2858482426415263,-1.3062851664717852,-1.5708833845886758,-0.358630857378948],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.820000000000612,"joint_targets_rad":[-1.932734224388199,-1.5497771198203325,1.2850567681145395,-1.306106438102258,-1.5708830578933128,-0.36185848897430095],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.840000000000619,"joint_targets_rad":[-1.9359554927984692,-1.5491501739684255,1.2842485266739037,-1.3059257860435807,-1.5708827279894269,-0.36507989268187474],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.860000000000626,"joint_targets_rad":[-1.9391704611376839,-1.5485083634306995,1.2834233946539133,-1.3057431125990564,-1.5708823948632078,-0.3682949980603621],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.880000000000632,"joint_targets_rad":[-1.9423790584620866,-1.5478516587396502,1.2825812367385034,-1.3055583122374936,-1.5708820584958918,-0.3715037341647431],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.900000000000639,"joint_targets_rad":[-1.945581213139936,-1.5471800259994035,1.281721904187038,-1.3053712704676506,-1.5708817188628805,-0.37470602936373865],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.920000000000646,"joint_targets_rad":[-1.9487768526281715,-1.546493426105121,1.2808452326790394,-1.3051818624702693,-1.57088137593266,-0.37790181111682464],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.940000000000652,"joint_targets_rad":[-1.9519659031973913,-1.5457918137869144,1.2799510396721399,-1.3049899514204724,-1.5708810296654516,-0.38109100569966187],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.960000000000659,"joint_targets_rad":[-1.9551482895900825,-1.5450751364269455,1.2790391211308694,-1.3047953864099602,-1.5708806800115185,-0.38427353786287244],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.980000000000666,"joint_targets_rad":[-1.9583239345915255,-1.5443433325796707,1.278109247431958,-1.3045979998454438,-1.5708803269090184,-0.3874493304036533],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.000000000000672,"joint_targets_rad":[-1.9614927584848452,-1.543596330098065,1.2771611581766211,-1.3043976041519276,-1.570879970281243,-0.39061830362173405],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.020000000000679,"joint_targets_rad":[-1.964654678349899,-1.54283404372873,1.276194555529486,-1.3041939875390176,-1.5708796100330216,-0.39378037461944804],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.040000000000686,"joint_targets_rad":[-1.967809607148052,-1.542056371978674,1.2752090955370616,-1.303986908482419,-1.5708792460459664,-0.39693545638807815],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.060000000000692,"joint_targets_rad":[-1.9709574525075493,-1.5412631929639058,1.2742043766216158,-1.303776088409421,-1.5708788781720762,-0.4000834565953416],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.080000000000699,"joint_targets_rad":[-1.9740981150810533,-1.5404543588034436,1.2731799240397093,-1.3035612018186875,-1.5708785062249626,-0.403224275945837],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.100000000000706,"joint_targets_rad":[-1.9772314862764115,-1.5396296878834286,1.2721351684317432,-1.3033418626433522,-1.5708781299675432,-0.4063578059159003],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.120000000000712,"joint_targets_rad":[-1.9803574450427968,-1.5387889539132529,1.2710694154710567,-1.303117604955896,-1.5708777490943384,-0.4094839255456342],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.140000000000719,"joint_targets_rad":[-1.9830935824592493,-1.5380182254702683,1.2700947583911302,-1.3029139626247006,-1.5708764419998444,-0.4122211047289386],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.160000000000726,"joint_targets_rad":[-1.9830379176122015,-1.5378799479834506,1.2699446501944553,-1.3028988299744302,-1.5708685899500483,-0.41217280916961696],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.1800000000007325,"joint_targets_rad":[-1.9829913401067922,-1.5377648145269402,1.269819160790043,-1.302885621956196,-1.570861953240363,-0.41213292026267323],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.200000000000739,"joint_targets_rad":[-1.982953563945819,-1.537670718006728,1.2697161409589153,-1.302873933072678,-1.5708559980704722,-0.41210117279947706],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.220000000000746,"joint_targets_rad":[-1.9829231001062448,-1.5375938434431211,1.269631610937548,-1.3028636311527013,-1.5708505330880291,-0.41207614402105125],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.2400000000007525,"joint_targets_rad":[-1.9828986145416574,-1.537531022760101,1.2695622329479908,-1.3028545684371928,-1.5708455176832656,-0.4120565596705194],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.260000000000759,"joint_targets_rad":[-1.98287899681883,-1.5374796683180543,1.2695052663203863,-1.3028466045103029,-1.5708409259113747,-0.4120413629190996],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.280000000000766,"joint_targets_rad":[-1.9828633333659424,-1.5374376706832609,1.2694584669653823,-1.3028396103132038,-1.5708367317974716,-0.4120296882365099],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.3000000000007725,"joint_targets_rad":[-1.9828508751688378,-1.5374033104347198,1.269419998156679,-1.3028334690389611,-1.5708329086091952,-0.4120208296852717],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.320000000000779,"joint_targets_rad":[-1.9716138080549515,-1.55171957605967,1.3327055391590603,-1.351493086816931,-1.5708299462207713,-0.40081278392080033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.340000000000786,"joint_targets_rad":[-1.9721372457992352,-1.5516655501066987,1.3329187096527464,-1.3517663386232044,-1.570827850852164,-0.4013359018183408],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.360000000000793,"joint_targets_rad":[-1.9722898041299282,-1.551789132545638,1.3349151619924076,-1.3536509062926456,-1.5708235465599607,-0.40148846010491257],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.380000000000799,"joint_targets_rad":[-1.9724312560332933,-1.5525861934864797,1.339799637212191,-1.357740703078615,-1.5708229622145884,-0.401630051929786],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.400000000000806,"joint_targets_rad":[-1.9725880512705456,-1.5534192826700441,1.3450725919779785,-1.362180577431077,-1.5708232672500932,-0.4017869636825468],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.420000000000813,"joint_targets_rad":[-1.9727492528489825,-1.5542319095403516,1.350346114258489,-1.3666414421844606,-1.570823581106443,-0.4019482590253856],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.440000000000819,"joint_targets_rad":[-1.9729107901923852,-1.5550254603353724,1.3555978863266749,-1.371099755822561,-1.570823843475909,-0.4021098784445194],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.460000000000826,"joint_targets_rad":[-1.9730723396579255,-1.555800008039285,1.3608257601128435,-1.3755532984563195,-1.5708240549005044,-0.402271500468717],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.480000000000833,"joint_targets_rad":[-1.9732338752251506,-1.556555635825558,1.3660298046658685,-1.380002042811579,-1.5708242210692562,-0.40243310034751667],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.500000000000839,"joint_targets_rad":[-1.9733953979689722,-1.5572924211060006,1.3712102788204776,-1.3844461572058229,-1.5708243474300678,-0.4025946801917425],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.520000000000846,"joint_targets_rad":[-1.9735569113975155,-1.5580104367834808,1.376367446748666,-1.3888858210574284,-1.5708244387876618,-0.4027562443943049],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.540000000000853,"joint_targets_rad":[-1.9737184190389097,-1.5587097516847765,1.3815015622091138,-1.3933212086822844,-1.5708244993520242,-0.4029177972454343],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.560000000000859,"joint_targets_rad":[-1.9738799242013225,-1.5593904307838098,1.3866128679778813,-1.3977524883833143,-1.5708245328153063,-0.40307934271216705],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.580000000000866,"joint_targets_rad":[-1.974041429969578,-1.560052535376483,1.3917015964776585,-1.4021798227907574,-1.5708245424205038,-0.4032408844506395],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.600000000000873,"joint_targets_rad":[-1.9742029392209872,-1.560696123249787,1.396767970487644,-1.4066033692996331,-1.5708245310204696,-0.40340242583496116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.620000000000879,"joint_targets_rad":[-1.9743644546424595,-1.5613212488392407,1.401812203804417,-1.4110232804804241,-1.5708245011284792,-0.40356396998522276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.640000000000886,"joint_targets_rad":[-1.9745259787474911,-1.5619279633733774,1.4068345018379411,-1.4154397044474136,-1.5708244549616177,-0.40372551979363047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.660000000000893,"joint_targets_rad":[-1.9746875138926252,-1.5625163150062553,1.4118350621490323,-1.419852785189054,-1.5708243944781015,-0.40388707794865064],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.680000000000899,"joint_targets_rad":[-1.9748490622932808,-1.5630863489385858,1.4168140749343578,-1.4242626628649413,-1.5708243214094513,-0.4040486469573123],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.700000000000906,"joint_targets_rad":[-1.9750106260388844,-1.5636381075279884,1.4217717234637717,-1.4286694740728862,-1.5708242372882977,-0.4042102291658227],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.720000000000913,"joint_targets_rad":[-1.9751722071072908,-1.5641716303889555,1.4267081844744958,-1.4330733520893058,-1.570824143472466,-0.4043718267786299],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.7400000000009195,"joint_targets_rad":[-1.975333807378478,-1.5646869544830868,1.431623628526185,-1.437474427085766,-1.5708240411658778,-0.4045334418760664],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.760000000000926,"joint_targets_rad":[-1.9754954286475381,-1.565184114200136,1.4365182203205555,-1.4418728263242382,-1.5708239314367456,-0.4046950764307113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.780000000000933,"joint_targets_rad":[-1.975657072637004,-1.565663141430379,1.441392118988869,-1.4462686743333553,-1.570823815233424,-0.4048567323225954],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.8000000000009395,"joint_targets_rad":[-1.975818741008541,-1.5661240656287514,1.4462454783501788,-1.45066209306764,-1.5708236933982689,-0.4050184113533715],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.820000000000946,"joint_targets_rad":[-1.9759804353740775,-1.5665669138711704,1.4510784471429707,-1.455053202051539,-1.5708235666797612,-0.40518011525956715],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.840000000000953,"joint_targets_rad":[-1.9761421573064113,-1.5669917109033786,1.4558911692324896,-1.4594421185098279,-1.5708234357431445,-0.405341845725031],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.8600000000009596,"joint_targets_rad":[-1.9763039083493736,-1.5673984791825994,1.460683783795786,-1.4638289574858152,-1.5708233011797705,-0.40550360439268507],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.880000000000966,"joint_targets_rad":[-1.9764656900276143,-1.567787238912217,1.465456425486249,-1.4682138319485913,-1.5708231635153243,-0.4056653928756886],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.900000000000973,"joint_targets_rad":[-1.97662750385607,-1.568158008069631,1.4702092245791547,-1.4725968528904485,-1.5708230232170763,-0.40582721276811096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.92000000000098,"joint_targets_rad":[-1.97678935134921,-1.5685108024273668,1.474942307099537,-1.476978129415447,-1.5708228807002826,-0.4059890656552181],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.940000000000986,"joint_targets_rad":[-1.9769512340301185,-1.568845635567433,1.4796557949334601,-1.481357768820017,-1.57082273633385,-0.4061509531234759],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.960000000000993,"joint_targets_rad":[-1.9771131534395052,-1.5691625188888532,1.4843498059235851,-1.4857358766663584,-1.570822590445345,-0.40631287677036076],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.980000000001,"joint_targets_rad":[-1.977275111144733,-1.5694614616081917,1.489024453949719,-1.4901125568493439,-1.5708224433254376,-0.40647483821409164],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.000000000001005,"joint_targets_rad":[-1.9774371087489488,-1.5697424707528154,1.493679848994828,-1.4944879116575094,-1.5708222952318467,-0.4066368391033837],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.020000000000994,"joint_targets_rad":[-1.9775991479004151,-1.5700055511465179,1.4983160971968281,-1.4988620418286835,-1.5708221463928391,-0.4067988811273241],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.040000000000983,"joint_targets_rad":[-1.9777612303021592,-1.5702507053870018,1.5029333008862273,-1.5032350466007085,-1.5708219970103467,-0.4069609660255014],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.060000000000972,"joint_targets_rad":[-1.977923357722045,-1.570477933814606,1.507531558609529,-1.507607023757671,-1.5708218472627369,-0.4071230955985077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.080000000000961,"joint_targets_rad":[-1.978085532003409,-1.5706872344714822,1.5121109651380558,-1.5119780696719973,-1.570821697307278,-0.4072852717189469],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.10000000000095,"joint_targets_rad":[-1.9782477550763966,-1.570878603050253,1.5166716114616061,-1.5163482793427039,-1.5708215472823388,-0.40744749634310434],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.120000000000939,"joint_targets_rad":[-1.9784100289701763,-1.5710520328309718,1.5212135847661048,-1.5207177464300692,-1.5708213973093437,-0.4076097715234566],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.140000000000928,"joint_targets_rad":[-1.9785723558262138,-1.57120751460495,1.525736968394092,-1.525086563286941,-1.5708212474945182,-0.40777209942219955],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.160000000000917,"joint_targets_rad":[-1.978734737912831,-1.5713450365836927,1.530241841786515,-1.52945482098683,-1.570821097930442,-0.40793448232604435],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.180000000000906,"joint_targets_rad":[-1.9788971776413142,-1.5714645842908492,1.534728280403907,-1.5338226093489284,-1.5708209486974303,-0.4080969226625132],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.200000000000895,"joint_targets_rad":[-1.9790596771476547,-1.5715661147908115,1.539196254581065,-1.5381899418811547,-1.5708207997355645,-0.4082594225820661],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.220000000000883,"joint_targets_rad":[-1.9792222384022997,-1.5716496015900194,1.5436457958008418,-1.5425568766014823,-1.5708206510641733,-0.4084219840690871],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.240000000000872,"joint_targets_rad":[-1.9793848639657634,-1.5717150248572553,1.548076969724273,-1.5469234989326888,-1.5708205027489814,-0.40858460969561794],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.260000000000861,"joint_targets_rad":[-1.9795475568000922,-1.571762361496502,1.55248983868505,-1.5512898942565645,-1.5708203548494493,-0.4087473024331896],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.28000000000085,"joint_targets_rad":[-1.9797103201208923,-1.571791585058697,1.5568844605265375,-1.5556561468453252,-1.5708202074163127,-0.4089100655053724],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.30000000000084,"joint_targets_rad":[-1.979873157417333,-1.5718026654863186,1.5612608882582142,-1.5600223397719113,-1.5708200604921405,-0.40907290240788363],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.320000000000828,"joint_targets_rad":[-1.9800360724888628,-1.571795568810397,1.565619169751733,-1.564388554907259,-1.5708199141120378,-0.40923581694536093],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.340000000000817,"joint_targets_rad":[-1.9801990694891243,-1.5717702567899667,1.5699593473813964,-1.5687548729198861,-1.570819768304267,-0.40939881327530653],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.360000000000806,"joint_targets_rad":[-1.9803621529778126,-1.5717266864814423,1.574281457589841,-1.5731213732711626,-1.5708196230907772,-0.4095618959599565],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.380000000000795,"joint_targets_rad":[-1.980525327982303,-1.5716648097218275,1.5785855303616252,-1.5774881342050673,-1.5708194784876417,-0.4097250700278937],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.400000000000784,"joint_targets_rad":[-1.9806886000714783,-1.5715845725050088,1.5828715885829576,-1.5818552327314457,-1.5708193345054038,-0.409888341047836],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.420000000000773,"joint_targets_rad":[-1.9808519754449312,-1.5714859142241226,1.5871396472591714,-1.5862227446014432,-1.5708191911493283,-0.4100517152177632],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.440000000000762,"joint_targets_rad":[-1.9810154610417214,-1.5713687667444718,1.5913897125526042,-1.5905907442733698,-1.5708190484195523,-0.41021519947356605],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.46000000000075,"joint_targets_rad":[-1.9811790646742933,-1.5712330532596708,1.5956217805910957,-1.594959304866637,-1.5708189063111282,-0.41037880162280044],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.48000000000074,"joint_targets_rad":[-1.981342795195126,-1.571078686867174,1.5998358359798714,-1.5993284981005456,-1.5708187648139356,-0.4105425305111224],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.500000000000728,"joint_targets_rad":[-1.981506662706529,-1.5709055687758096,1.6040318499247685,-1.6036983942134813,-1.570818623912447,-0.4107063962317829],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.520000000000717,"joint_targets_rad":[-1.9816706788281462,-1.5707135860238046,1.6082097778387587,-1.608069061856314,-1.5708184835852983,-0.41087041039273087],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.540000000000706,"joint_targets_rad":[-1.9818348570428612,-1.5705026085353422,1.6123695562504736,-1.6124405679511327,-1.5708183438046215,-0.41103458646197316],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.560000000000695,"joint_targets_rad":[-1.9819992131511641,-1.570272485267528,1.616511098753103,-1.6168129775025248,-1.5708182045350487,-0.41119894022119513],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.580000000000684,"joint_targets_rad":[-1.9821637658785651,-1.5700230390818453,1.6206342906076856,-1.621186353342363,-1.5708180657322715,-0.41136349037215364],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.600000000000673,"joint_targets_rad":[-1.9823285377039381,-1.5697540597870847,1.6247389814173014,-1.625560755779261,-1.570817927340963,-0.41152825936358106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.620000000000662,"joint_targets_rad":[-1.982493556015075,-1.5694652944944496,1.6288249749652386,-1.629936242107604,-1.57081778929177,-0.41169327454468807],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.64000000000065,"joint_targets_rad":[-1.9826588547633979,-1.569156433906457,1.6328920147619062,-1.6343128659034505,-1.57081765149689,-0.4118585698168641],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.66000000000064,"joint_targets_rad":[-1.9827941205383055,-1.5688587227769095,1.636163821732076,-1.6378869075199731,-1.5708171457462903,-0.41199390157573734],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.680000000000629,"joint_targets_rad":[-1.9827959582080183,-1.5687038186517808,1.636026492844643,-1.6379253263642073,-1.570815090187946,-0.4119961065029403],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.700000000000617,"joint_targets_rad":[-1.9827975901467836,-1.5685758216386998,1.6359146167460987,-1.6379602878249857,-1.5708133204999988,-0.4119980731258655],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.720000000000606,"joint_targets_rad":[-1.98279907084214,-1.5684724841059503,1.6358258670611636,-1.6379918292556883,-1.5708117142287914,-0.41199985681064055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.740000000000595,"joint_targets_rad":[-1.9828004176370806,-1.5683893239262185,1.6357558383780657,-1.6380202287364711,-1.5708102511786823,-0.4120014778041616],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.760000000000584,"joint_targets_rad":[-1.9828016420410643,-1.568322528192891,1.6357008181777475,-1.6380457622340152,-1.5708089204545606,-0.4120029503284893],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.780000000000573,"joint_targets_rad":[-1.9828027544226716,-1.5682689836235997,1.6356578047141355,-1.6380686968555984,-1.5708077119555843,-0.412004287223283],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.800000000000562,"joint_targets_rad":[-1.9828037644003687,-1.5682261587817539,1.6356243806591255,-1.6380892850246909,-1.5708066159008744,-0.41200550034967326],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.820000000000551,"joint_targets_rad":[-1.9828046808934428,-1.5681919969912066,1.6355986006359637,-1.6381077612642663,-1.5708056229163472,-0.4120066006600907],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.84000000000054,"joint_targets_rad":[-1.982805512150378,-1.5681648281844223,1.6355788998885208,-1.6381243408521324,-1.5708047241211052,-0.412007598244943],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.860000000000529,"joint_targets_rad":[-1.9828062657787275,-1.5681432969891471,1.6355640206647604,-1.6381392196924984,-1.5708039111802912,-0.4120085023795594],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.880000000000518,"joint_targets_rad":[-1.9828069487774984,-1.56812630411573,1.6355529528703758,-1.6381525749419832,-1.570803176330483,-0.41200932157238834],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.900000000000507,"joint_targets_rad":[-1.9828075675713495,-1.5681129585937286,1.635544886192704,-1.6381645660760416,-1.5708025123847986,-0.41201006361377757],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.920000000000496,"joint_targets_rad":[-1.9828081280458159,-1.5681025388557035,1.6355391714548415,-1.6381753361858582,-1.5708019127234563,-0.4120107356245827],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.940000000000484,"joint_targets_rad":[-1.9828086355828392,-1.5680944610353909,1.6355352894063728,-1.6381850133678963,-1.5708013712742337,-0.41201134410395307],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.960000000000473,"joint_targets_rad":[-1.9828090950959993,-1.568088253148477,1.6355328255118413,-1.6381937121179735,-1.5708008824862303,-0.4120118949757429],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.980000000000462,"joint_targets_rad":[-1.9828095110649555,-1.5680835340696142,1.6355314495806024,-1.638201534675588,-1.5708004412995031,-0.41201239363313014],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.000000000000451,"joint_targets_rad":[-1.9828098875687141,-1.568079996419428,1.635530899307381,-1.6382085722872157,-1.570800043112493,-0.4120128449811342],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.02000000000044,"joint_targets_rad":[-1.98281022831745,-1.5680773926385354,1.6355309669735056,-1.6382149063725384,-1.5707996837486584,-0.4120132534768289],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.040000000000429,"joint_targets_rad":[-1.9828105366826865,-1.568075523658807,1.6355314887037165,-1.6382206095875869,-1.5707993594233176,-0.4120136231671184],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.060000000000418,"joint_targets_rad":[-1.9828108157257105,-1.5680742296908186,1.6355323357899536,-1.6382257467851271,-1.5707990667114209,-0.4120139577240422],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.080000000000407,"joint_targets_rad":[-1.9828110682241762,-1.568073382735164,1.6355334076872954,-1.6382303758765158,-1.5707988025167194,-0.4120142604775948],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.100000000000396,"joint_targets_rad":[-1.98281129669687,-1.5680728804976818,1.6355346263627326,-1.6382345486014016,-1.5707985640426407,-0.4120145344461181],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.120000000000385,"joint_targets_rad":[-1.9828115034266716,-1.5680726414477746,1.6355359317385398,-1.6382383112127987,-1.5707983487650417,-0.4120147823643434],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.140000000000374,"joint_targets_rad":[-1.982811690481753,-1.568072600807146,1.6355372780211301,-1.6382417050853506,-1.5707981544069065,-0.41201500670918645],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.160000000000363,"joint_targets_rad":[-1.9828118597350965,-1.5680727072956766,1.6355386307461959,-1.6382447672545646,-1.5707979789150066,-0.4120152097234036],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.180000000000351,"joint_targets_rad":[-1.9828120128824072,-1.5680729204932,1.6355399644030542,-1.6382475308943756,-1.5707978204384725,-0.4120153934372531],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.20000000000034,"joint_targets_rad":[-1.9828121514585106,-1.5680732087021216,1.635541260527202,-1.6382500257399093,-1.5707976773092052,-0.41201555968827036],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.22000000000033,"joint_targets_rad":[-1.9828122768523386,-1.568073547217159,1.63554250617119,-1.6382522784617124,-1.5707975480240288,-0.4120157101393104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.240000000000318,"joint_targets_rad":[-1.9828123903205994,-1.5680739169259135,1.6355436926810012,-1.6382543129970926,-1.5707974312284765,-0.41201584629496824],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.260000000000307,"joint_targets_rad":[-1.9828124930002193,-1.5680743031780966,1.6355448147189457,-1.6382561508436293,-1.5707973257020926,-0.41201596951651825],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.280000000000296,"joint_targets_rad":[-1.9828125859196666,-1.5680746948728825,1.6355458694853549,-1.6382578113193413,-1.5707972303451372,-0.41201608103548193],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.300000000000285,"joint_targets_rad":[-1.9828126700092346,-1.5680750837232125,1.635546856100393,-1.63825931179349,-1.5707971441665705,-0.41201618196594264],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.320000000000274,"joint_targets_rad":[-1.9828127461103706,-1.5680754636635887,1.635547775114727,-1.6382606678915042,-1.5707970662732194,-0.41201627331571683],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.340000000000263,"joint_targets_rad":[-1.982812814984146,-1.5680758303741342,1.6355486281237277,-1.638261893677105,-1.570796995860007,-0.4120163559964774],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.360000000000252,"joint_targets_rad":[-1.982812877318921,-1.5680761808987953,1.6355494174647587,-1.638263001814333,-1.5707969322011568,-0.4120164308329222],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.38000000000024,"joint_targets_rad":[-1.9828129337372977,-1.5680765133397072,1.635550145981012,-1.6382640037118337,-1.570796874642275,-0.4120164985710788],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.40000000000023,"joint_targets_rad":[-1.9828129848024039,-1.5680768266131195,1.6355508168385395,-1.638264909651477,-1.5707968225932247,-0.4120165598858208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.420000000000218,"joint_targets_rad":[-1.9828130310235885,-1.5680771202550186,1.6355514333857049,-1.6382657289031315,-1.5707967755217214,-0.4120166153876685],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.440000000000207,"joint_targets_rad":[-1.9828130728615705,-1.5680773942668473,1.6355519990463765,-1.6382664698271692,-1.5707967329475716,-0.4120166656289409],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.460000000000196,"joint_targets_rad":[-1.9828131107330957,-1.5680776489934896,1.635552517239866,-1.6382671399661197,-1.5707966944374914,-0.41201671110931914],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.480000000000185,"joint_targets_rad":[-1.9828131450151478,-1.568077885027227,1.6355529913219844,-1.6382677461266726,-1.5707966596004523,-0.4120167522808823],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.500000000000174,"joint_targets_rad":[-1.9828131760487577,-1.5680781031325284,1.6355534245427124,-1.6382682944531297,-1.5707966280834917,-0.4120167895526542],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.520000000000163,"joint_targets_rad":[-1.982813204221591,-1.5680783049375089,1.6355538211443694,-1.6382687917740513,-1.5707965993342905,-0.41201682337651535],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.540000000000152,"joint_targets_rad":[-1.9828132299985783,-1.5680784925356603,1.6355541854793167,-1.6382692444676654,-1.5707965727018827,-0.41201685425401713],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.56000000000014,"joint_targets_rad":[-1.9828132533289458,-1.5680786660011585,1.6355545189021319,-1.6382696556811847,-1.5707965485529962,-0.4120168821624028],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.58000000000013,"joint_targets_rad":[-1.9828132745274634,-1.5680788257711278,1.6355548236314696,-1.6382700293329127,-1.5707965265754384,-0.4120169075077821],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.600000000000119,"joint_targets_rad":[-1.9828132932855627,-1.5680789678869669,1.6355550955493046,-1.638270361595635,-1.570796507724415,-0.41201693007160395],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.620000000000108,"joint_targets_rad":[-1.9828133102615288,-1.568079096356183,1.6355553409253207,-1.6382706601967083,-1.5707964906929868,-0.41201695049614745],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.640000000000096,"joint_targets_rad":[-1.9828133256456029,-1.5680792137608772,1.6355555640170425,-1.6382709302403666,-1.570796475253512,-0.41201696900191576],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.660000000000085,"joint_targets_rad":[-1.9828133395461736,-1.5680793214060618,1.6355557677275578,-1.6382711761381152,-1.570796461297938,-0.4120169857315276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.680000000000074,"joint_targets_rad":[-1.9828133522608604,-1.568079424159605,1.6355559613193198,-1.638271412080344,-1.5707964482305037,-0.41201700098617944],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.700000000000063,"joint_targets_rad":[-1.9828133637714593,-1.5680795214266872,1.6355561424792748,-1.6382716329846554,-1.5707964365381129,-0.41201701481138175],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.720000000000052,"joint_targets_rad":[-1.982813374171376,-1.5680796100870535,1.6355563068853454,-1.6382718332253632,-1.5707964259981972,-0.4120170273059275],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.740000000000041,"joint_targets_rad":[-1.9828133835786346,-1.568079690561978,1.6355564556797788,-1.6382720143134248,-1.5707964164867583,-0.41201703860974553],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.76000000000003,"joint_targets_rad":[-1.9828133920898432,-1.5680797635635884,1.6355565903128315,-1.638272178057848,-1.5707964079001402,-0.4120170488382829],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.780000000000019,"joint_targets_rad":[-1.9828133997910815,-1.5680798297697895,1.6355567121309555,-1.638272326127716,-1.570796400146179,-0.41201705809457567],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.800000000000008,"joint_targets_rad":[-1.982813406759966,-1.5680798898016688,1.6355568223552521,-1.638272460032699,-1.5707963931423057,-0.4120170664715832],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.819999999999997,"joint_targets_rad":[-1.9828134130665798,-1.5680799442258202,1.6355569220906463,-1.6382725811358732,-1.5707963868144459,-0.4120170740532734],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.839999999999986,"joint_targets_rad":[-1.982813418774221,-1.5680799935585277,1.635557012336633,-1.6382726906678609,-1.5707963810960957,-0.41201708091552136],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.859999999999975,"joint_targets_rad":[-1.9828134239400768,-1.5680800382698894,1.6355570939972879,-1.638272789739837,-1.5707963759275054,-0.4120170871268955],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.879999999999963,"joint_targets_rad":[-1.982813428615822,-1.5680800787876903,1.6355571678903604,-1.6382728793552757,-1.5707963712549597,-0.4120170927493778],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.899999999999952,"joint_targets_rad":[-1.98281343284816,-1.568080115501002,1.6355572347555345,-1.638272960420545,-1.5707963670301404,-0.41201709783900353],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.919999999999941,"joint_targets_rad":[-1.9828134366764145,-1.5680801493321388,1.6355572961092613,-1.6382730351953638,-1.570796363205493,-0.4120171024433977],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.93999999999993,"joint_targets_rad":[-1.982813440149073,-1.5680801803151616,1.635557352010089,-1.638273103248973,-1.5707963597427985,-0.41201710661886815],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.95999999999992,"joint_targets_rad":[-1.982813443290528,-1.5680802082808,1.635557402433493,-1.6382731645550717,-1.5707963566133563,-0.4120171103967544],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.979999999999908,"joint_targets_rad":[-1.9828134461338274,-1.5680802334826052,1.6355574478789896,-1.6382732197465575,-1.5707963537838527,-0.41201711381638484],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.999999999999897,"joint_targets_rad":[-1.9828134487075844,-1.5680802561930736,1.6355574888453082,-1.6382732694467355,-1.5707963512249261,-0.412017116912043],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.019999999999886,"joint_targets_rad":[-1.9828134510374964,-1.5680802766625364,1.6355575257848276,-1.638273314218678,-1.5707963489102494,-0.41201711971456184],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.039999999999875,"joint_targets_rad":[-1.9828134531467707,-1.5680802951167128,1.635557559103422,-1.6382733545661314,-1.5707963468161554,-0.4120171222517971],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.059999999999864,"joint_targets_rad":[-1.9828134550563798,-1.5680803117584194,1.6355575891647518,-1.6382733909393026,-1.570796344921347,-0.4120171245489374],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.079999999999853,"joint_targets_rad":[-1.9828134567852858,-1.568080326769691,1.6355576162946734,-1.6382734237406515,-1.5707963432066425,-0.4120171266287592],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.099999999999842,"joint_targets_rad":[-1.982813458350635,-1.5680803403138335,1.6355576407852854,-1.6382734533301593,-1.570796341654754,-0.41201712851186495],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.11999999999983,"joint_targets_rad":[-1.982813459767937,-1.5680803525373421,1.6355576628985626,-1.6382734800300263,-1.5707963402500886,-0.41201713021689707],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.13999999999982,"joint_targets_rad":[-1.982813461051221,-1.5680803635716494,1.6355576828695997,-1.6382735041288472,-1.570796338978577,-0.4120171317607217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.159999999999808,"joint_targets_rad":[-1.9828134622131832,-1.5680803735347073,1.6355577009094993,-1.6382735258853107,-1.5707963378275167,-0.41201713315859845],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.179999999999797,"joint_targets_rad":[-1.9828134632653092,-1.5680803825324225,1.6355577172079399,-1.6382735455314634,-1.570796336785434,-0.4120171344243431],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.199999999999786,"joint_targets_rad":[-1.9828134642179944,-1.5680803906599188,1.6355577319354462,-1.6382735632756054,-1.5707963358419623,-0.4120171355704564],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.219999999999775,"joint_targets_rad":[-1.9828134650806482,-1.5680803980026883,1.635557745245417,-1.638273579304845,-1.5707963349877312,-0.4120171366082544],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.239999999999764,"joint_targets_rad":[-1.9828258883816676,-1.5710978881785005,1.592691034822874,-1.5926009186311074,-1.570781260238144,-0.41202953152178173],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.259999999999753,"joint_targets_rad":[-1.9828257963983786,-1.5711965548165687,1.591546398965304,-1.5913565716157876,-1.5707813208054606,-0.41202944212823744],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.279999999999742,"joint_targets_rad":[-1.9828309439703988,-1.5712564354319363,1.5878974092750888,-1.5876471530711935,-1.5707813039776937,-0.412034579499925],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.29999999999973,"joint_targets_rad":[-1.9828353179360172,-1.5713264011530987,1.5836361533856123,-1.5833167297232171,-1.570781161493599,-0.41203894663160856],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.31999999999972,"joint_targets_rad":[-1.9828350876934009,-1.5713787614320003,1.579333529901137,-1.5789627122879801,-1.5707809967654665,-0.41203872070673214],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.339999999999709,"joint_targets_rad":[-1.982834638221962,-1.5714134000737836,1.5750122124860058,-1.5746077065437343,-1.570780833591047,-0.4120382757329617],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.359999999999697,"joint_targets_rad":[-1.982834197352303,-1.5714303122851585,1.5706735502592126,-1.5702530592479507,-1.570780672951556,-0.41203783895231993],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.379999999999686,"joint_targets_rad":[-1.9828337776193723,-1.5714295042065227,1.5663175464599346,-1.5658987700335523,-1.5707805145618863,-0.41203742290047896],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.399999999999675,"joint_targets_rad":[-1.9828333785726793,-1.5714109808529708,1.5619441229361708,-1.5615447585755333,-1.5707803580969202,-0.4120370271606915],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.419999999999664,"joint_targets_rad":[-1.9828329990882543,-1.571374745494013,1.5575531948303698,-1.5571909393617633,-1.5707802032602347,-0.4120366506422619],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.439999999999653,"joint_targets_rad":[-1.982832638092494,-1.5713207996535863,1.5531446750118447,-1.5528372261173604,-1.5707800497845252,-0.412036292302461],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.459999999999642,"joint_targets_rad":[-1.9828322945969443,-1.57124914313601,1.5487184742780937,-1.5484835320013584,-1.570779897428428,-0.4120359511812962],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.479999999999631,"joint_targets_rad":[-1.9828319676922486,-1.571159774048284,1.544274501304086,-1.544129769554638,-1.5707797459735322,-0.41203562639557123],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.49999999999962,"joint_targets_rad":[-1.9828316565403397,-1.5710526888173388,1.5398126625793427,-1.539775850638798,-1.57077959522175,-0.4120353171312069],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.519999999999609,"joint_targets_rad":[-1.9828313603671779,-1.5709278822023363,1.5353328623465001,-1.5354216863796168,-1.5707794449930008,-0.4120350226361185],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.539999999999598,"joint_targets_rad":[-1.9828310784561147,-1.5707853473022204,1.530835002541373,-1.5310671871151154,-1.570779295123176,-0.4120347422137161],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.559999999999587,"joint_targets_rad":[-1.9828308101418277,-1.5706250755587015,1.5263189827338473,-1.5267122623475209,-1.5707791454623394,-0.4120344752169724],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.579999999999576,"joint_targets_rad":[-1.98283055423373,-1.5704470967497866,1.5217848302535126,-1.5223569104533186,-1.5707789959085454,-0.4120342204727998],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.599999999999564,"joint_targets_rad":[-1.9828303106827385,-1.570251403463575,1.5172324590268247,-1.518001053888939,-1.5707788463393428,-0.41203397794586316],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.619999999999553,"joint_targets_rad":[-1.982830079041172,-1.570037981963749,1.5126617621168494,-1.513644600555647,-1.570778696635256,-0.41203374720204927],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.639999999999542,"joint_targets_rad":[-1.9828298587880355,-1.5698068168989059,1.508072629621111,-1.5092874569211014,-1.5707785466854822,-0.4120335277329442],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.659999999999531,"joint_targets_rad":[-1.9828296494262991,-1.5695578911784764,1.5034649489327678,-1.5049295284097703,-1.5707783963873243,-0.41203331905294566],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.67999999999952,"joint_targets_rad":[-1.9828294504843589,-1.5692911859514254,1.4988386047123512,-1.5005707194037858,-1.5707782456452972,-0.41203312070081494],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.699999999999509,"joint_targets_rad":[-1.9828292615128877,-1.569006680579787,1.4941934788214317,-1.4962109332103768,-1.5707780943703038,-0.4120329322366199],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.719999999999498,"joint_targets_rad":[-1.9828290820815968,-1.5687043526081847,1.4895294502516414,-1.4918500720280143,-1.570777942478889,-0.41203275323858407],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.739999999999487,"joint_targets_rad":[-1.9828289117761986,-1.5683841777291954,1.4848463950504496,-1.4874880369128398,-1.5707777898925714,-0.41203258330012793],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.759999999999476,"joint_targets_rad":[-1.9828287501955526,-1.568046129744473,1.4801441862434712,-1.4831247277453254,-1.570777636537244,-0.412032422027092],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.779999999999465,"joint_targets_rad":[-1.9828285969489823,-1.567690180521509,1.4754226937529689,-1.4787600431969805,-1.5707774823426255,-0.4120322690351214],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.799999999999454,"joint_targets_rad":[-1.9828284516537222,-1.5673162999458596,1.4706817843121647,-1.4743938806969605,-1.5707773272417707,-0.4120321239471764],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.819999999999443,"joint_targets_rad":[-1.9828283139324863,-1.5669244558686233,1.465921321374953,-1.4700261363984193,-1.5707771711706218,-0.412031986391155],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.839999999999431,"joint_targets_rad":[-1.9828281834111183,-1.5665146140488995,1.4611411650205715,-1.465656705144475,-1.5707770140676005,-0.4120318559976011],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.85999999999942,"joint_targets_rad":[-1.9828280597163137,-1.5660867380908998,1.456341171852739,-1.4612854804336652,-1.570776855873238,-0.41203173239747404],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.87999999999941,"joint_targets_rad":[-1.9828279424733863,-1.5656407893753175,1.4515211948927078,-1.4569123543847717,-1.5707766965298293,-0.4120316152199543],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.899999999999398,"joint_targets_rad":[-1.982827831304048,-1.5651767269844783,1.4466810834656092,-1.4525372177008924,-1.570776535981125,-0.4120315040902687],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.919999999999387,"joint_targets_rad":[-1.9828277258241978,-1.5646945076207184,1.4418206830794003,-1.448159959632655,-1.570776374172035,-0.412031398627516],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.939999999999376,"joint_targets_rad":[-1.9828276256416744,-1.5641940855173178,1.4369398352955958,-1.4437804679404609,-1.5707762110483614,-0.4120312984424527],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.959999999999365,"joint_targets_rad":[-1.9828275303539626,-1.5636754123412229,1.432038377590904,-1.4393986288556533,-1.5707760465565448,-0.4120312031352269],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.979999999999354,"joint_targets_rad":[-1.9828274395458176,-1.5631384370866275,1.427116143208673,-1.4350143270404903,-1.5707758806434253,-0.41203111229303724],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.999999999999343,"joint_targets_rad":[-1.982827352786783,-1.5625831059583257,1.422172960998954,-1.4306274455468155,-1.5707757132560185,-0.41203102548767206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.019999999999332,"joint_targets_rad":[-1.9828272696285696,-1.5620093622435662,1.4172086552457563,-1.4262378657733041,-1.570775544341295,-0.4120309422729136],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.03999999999932,"joint_targets_rad":[-1.982827189602257,-1.5614171461708786,1.4122230454798272,-1.4218454674211616,-1.570775373845973,-0.41203086218176366],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.05999999999931,"joint_targets_rad":[-1.982827112215278,-1.5608063947540822,1.4072159462750182,-1.4174501284481504,-1.570775201716313,-0.412030784723447],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.079999999999298,"joint_targets_rad":[-1.9828270369481442,-1.5601770416193157,1.4021871670259072,-1.41305172502078,-1.5707750278979147,-0.41203070938015496],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.099999999999287,"joint_targets_rad":[-1.9828269632508533,-1.5595290168125362,1.3971365117039636,-1.4086501314645337,-1.5707748523355112,-0.41203063560347497],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.119999999999276,"joint_targets_rad":[-1.9828268905389224,-1.5588622465843882,1.3920637785889565,-1.4042452202119406,-1.5707746749727647,-0.4120305628104386],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.139999999999265,"joint_targets_rad":[-1.9828268181889699,-1.5581766531487111,1.3869687599716698,-1.3998368617483021,-1.5707744957520502,-0.41203049037912115],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.159999999999254,"joint_targets_rad":[-1.982826745533765,-1.5574721544101642,1.3818512418231623,-1.3954249245548698,-1.5707743146142332,-0.41203041764370657],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.179999999999243,"joint_targets_rad":[-1.9828266718566354,-1.5567486636554215,1.3767110034247638,-1.3910092750492227,-1.5707741314984316,-0.41203034388891396],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.199999999999232,"joint_targets_rad":[-1.9828265963851206,-1.5560060892011247,1.3715478169516764,-1.3865897775225542,-1.5707739463417596,-0.41203026834366735],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.21999999999922,"joint_targets_rad":[-1.9828265182837073,-1.555244333990159,1.3663614470014032,-1.382166294073558,-1.570773759079046,-0.41203019017384435],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.23999999999921,"joint_targets_rad":[-1.9828264366454749,-1.55446329512572,1.3611516500560308,-1.3777386845385082,-1.5707735696425222,-0.4120301084739448],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.259999999999199,"joint_targets_rad":[-1.9828263504824226,-1.5536628633299254,1.35591817386463,-1.3733068064170864,-1.5707733779614717,-0.4120300222574341],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.279999999999188,"joint_targets_rad":[-1.982826258714195,-1.552842922310168,1.3506607567283657,-1.3688705147934028,-1.5707731839618246,-0.41202993044549213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.299999999999176,"joint_targets_rad":[-1.9828261601548607,-1.552003348011682,1.3453791266660384,-1.3644296622515386,-1.5707729875656953,-0.4120298318538128],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.319999999999165,"joint_targets_rad":[-1.9828260534973015,-1.551144007728489,1.3400730004313204,-1.3599840987847753,-1.570772788690829,-0.41202972517702263],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.339999999999154,"joint_targets_rad":[-1.982825937294652,-1.5502647590363265,1.334742082344135,-1.3555336716975006,-1.5707725872499514,-0.41202960897015134],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.359999999999143,"joint_targets_rad":[-1.9828258099380696,-1.5493654484993846,1.3293860628865575,-1.3510782254984557,-1.5707723831499787,-0.4120294816264351],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.379999999999132,"joint_targets_rad":[-1.982825669629904,-1.5484459100863501,1.3240046169968644,-1.3466176017836908,-1.5707721762910507,-0.4120293413505351],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.399999999999121,"joint_targets_rad":[-1.9828255143510523,-1.5475059632080341,1.3185974019715463,-1.342151639107014,-1.570771966565329,-0.41202918612593903],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.41999999999911,"joint_targets_rad":[-1.9828253418208823,-1.546545410255632,1.313164054851096,-1.3376801728351053,-1.5707717538554862,-0.4120290136749566],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.439999999999099,"joint_targets_rad":[-1.9828251494475921,-1.5455640334698135,1.3077041891153443,-1.3332030349833839,-1.5707715380327647,-0.41202882140915154],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.459999999999088,"joint_targets_rad":[-1.9828249342660917,-1.5445615908979227,1.3022173904395606,-1.328720054027373,-1.5707713189544565,-0.4120286063673321],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.479999999999077,"joint_targets_rad":[-1.9828246928594646,-1.543537811084923,1.2967032111484058,-1.3242310546821432,-1.5707710964605566,-0.412028365137137],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.499999999999066,"joint_targets_rad":[-1.9828244212585489,-1.5424923859685984,1.2911611628259494,-1.319735857639286,-1.5707708703692387,-0.41202809375478666],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.519999999999055,"joint_targets_rad":[-1.9828241148120436,-1.541424961166594,1.285590706251168,-1.3152342792459204,-1.570770640470599,-0.4120277875754062],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.539999999999043,"joint_targets_rad":[-1.982823768018406,-1.5403351215839605,1.2799912346425388,-1.310726129220129,-1.5707704065163464,-0.4120274411052979],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.559999999999032,"joint_targets_rad":[-1.9828233742968153,-1.539222373133421,1.274362052563265,-1.3062112079287964,-1.5707701682069806,-0.41202704777339816],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.579999999999021,"joint_targets_rad":[-1.9828213281819922,-1.538895829499968,1.2734250260859201,-1.3055793883154077,-1.5707721004271842,-0.41202500635607525],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.59999999999901,"joint_targets_rad":[-1.9828191989229496,-1.53870766919513,1.273169052435334,-1.3054887725782371,-1.570774193053007,-0.4120228825305387],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.619999999999,"joint_targets_rad":[-1.9828172378829434,-1.5385506818293864,1.2729538052253384,-1.3054096642206745,-1.5707761210266609,-0.41202092611073443],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.639999999998988,"joint_targets_rad":[-1.982815434467612,-1.5384200291107653,1.2727732055413679,-1.305340669068179,-1.570777894486692,-0.4120191264063893],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.659999999998977,"joint_targets_rad":[-1.9828137783940687,-1.5383112059293262,1.272621580524039,-1.3052804764924433,-1.5707795233877793,-0.4120174732231415],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.679999999998966,"joint_targets_rad":[-1.9828122596508608,-1.538220451222686,1.2724941472399576,-1.305227932005109,-1.5707810174780756,-0.4120159566526603],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.699999999998955,"joint_targets_rad":[-1.9828108685251538,-1.5381446579868097,1.2723869129427718,-1.305182026008664,-1.5707823862361363,-0.4120145670813056],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.719999999998944,"joint_targets_rad":[-1.9828095956728766,-1.5380812625141296,1.2722965502019377,-1.3051418793148946,-1.5707836387951593,-0.41201329525662017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.739999999998933,"joint_targets_rad":[-1.9828084321730968,-1.5380281491548582,1.2722202874683892,-1.3051067286575218,-1.5707847838858235,-0.41201213234063727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.759999999998922,"joint_targets_rad":[-1.9828073695640271,-1.5379835714360721,1.2721558167674163,-1.3050759129438694,-1.5707858297979647,-0.41201106994566233],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.77999999999891,"joint_targets_rad":[-1.9828063998636862,-1.5379460870462118,1.2721012163280174,-1.3050488605451231,-1.5707867843578907,-0.41201010015511624],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.7999999999989,"joint_targets_rad":[-1.9828055155783273,-1.537914504284402,1.2720548858710532,-1.3050250777575407,-1.5707876549181723,-0.412009215532419],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.819999999998888,"joint_targets_rad":[-1.9828047097013257,-1.537887837959694,1.2720154925664309,-1.3050041384690896,-1.5707884483572077,-0.41200840912047043],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.839999999998877,"joint_targets_rad":[-1.9828039757047669,-1.537865273076157,1.2719819259595828,-1.3049856750038293,-1.5707891710862898,-0.41200767443391656],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.859999999998866,"joint_targets_rad":[-1.9828033075255778,-1.5378461349319068,1.2719532604229047,-1.3049693700781662,-1.570789829062306,-0.4120070054459843],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.879999999998855,"joint_targets_rad":[-1.9828026995477144,-1.5378298645010922,1.2719287239085686,-1.3049549497816186,-1.570790427804537,-0.41200639657135896],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.899999999998844,"joint_targets_rad":[-1.9828021465816188,-1.537815998166486,1.271907671968992,-1.304942177484823,-1.5707909724143065,-0.4120058426463084],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.919999999998833,"joint_targets_rad":[-1.982801643841932,-1.5378041510341212,1.2718895661737994,-1.3049308485753053,-1.5707914675964885,-0.41200533890701296],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.939999999998822,"joint_targets_rad":[-1.9828011869242321,-1.5377940031965556,1.271873956190907,-1.3049207859243015,-1.570791917682078,-0.4120048809668682],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.95999999999881,"joint_targets_rad":[-1.9828007717813996,-1.5377852884228542,1.2718604649173524,-1.3049118359937413,-1.5707923266512052,-0.41200446479336766],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.9799999999988,"joint_targets_rad":[-1.9828003947000912,-1.5377777848454184,1.271848776145635,-1.3049038654999765,-1.5707926981561149,-0.4120040866850253],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.999999999998789,"joint_targets_rad":[-1.982800052277654,-1.5377713072896302,1.2718386243357873,-1.304896758559008,-1.5707930355437474,-0.41200374324870426],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.019999999998777,"joint_targets_rad":[-1.982799741399761,-1.5377657009549575,1.2718297861348384,-1.3048904142463247,-1.570793341877653,-0.4120034313775979],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.039999999998766,"joint_targets_rad":[-1.9827994592189344,-1.5377608362076847,1.271822073345094,-1.3048847445124259,-1.5707936199590544,-0.41200314823007195],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.059999999998755,"joint_targets_rad":[-1.9827992031340977,-1.5377566042880308,1.2718153270930448,-1.3048796724026424,-1.5707938723469177,-0.4120028912094806],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.079999999998744,"joint_targets_rad":[-1.9827989707712246,-1.5377529137693793,1.271809412992646,-1.304875130536688,-1.570794101376956,-0.41200265794504703],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.099999999998733,"joint_targets_rad":[-1.9827987599651284,-1.5377496876362335,1.271804217131926,-1.3048710598095419,-1.5707943091795196,-0.4120024462738552],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.119999999998722,"joint_targets_rad":[-1.9827985687424063,-1.5377468608712088,1.2717996427410525,-1.304867408280691,-1.5707944976963606,-0.4120022542239628],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.139999999998711,"joint_targets_rad":[-1.9827983953055246,-1.5377443784609297,1.2717956074244317,-1.304864130223563,-1.570794668696271,-0.41200207999863186],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.1599999999987,"joint_targets_rad":[-1.9827982380180245,-1.5377421937467235,1.271792040859589,-1.3048611853111232,-1.5707948237896339,-0.41200192196165736],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.179999999998689,"joint_targets_rad":[-1.9827980953908049,-1.5377402670592364,1.271788882882423,-1.3048585379172015,-1.5707949644419035,-0.4120017786237582],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.199999999998678,"joint_targets_rad":[-1.9827979660694397,-1.5377385645869244,1.2717860818923286,-1.3048561565162138,-1.5707950919860787,-0.41200164862997846],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.219999999998667,"joint_targets_rad":[-1.9827978488224784,-1.5377370574372873,1.2717835935222266,-1.304854013166563,-1.5707952076342058,-0.4120015307480635],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.239999999998656,"joint_targets_rad":[-1.9827977425306715,-1.5377357208570517,1.2717813795280892,-1.3048520830652826,-1.5707953124879728,-0.4120014238577491],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.259999999998644,"joint_targets_rad":[-1.9827976461770702,-1.537734533583508,1.2717794068604127,-1.3048503441633563,-1.570795407548444,-0.4120013269409108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.279999999998633,"joint_targets_rad":[-1.9827975588379372,-1.5377334773041456,1.2717776468866593,-1.3048487768328292,-1.570795493724998,-0.4120012390725186],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.299999999998622,"joint_targets_rad":[-1.9827974796744186,-1.5377325362058005,1.271776074739017,-1.3048473635781224,-1.5707955718435134,-0.4120011594123459],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.319999999998611,"joint_targets_rad":[-1.9827974079249209,-1.5377316965978367,1.2717746687663163,-1.3048460887852,-1.5707956426538687,-0.41200108719737416],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.3399999999986,"joint_targets_rad":[-1.9827973428981378,-1.537730946596648,1.271773410072595,-1.3048449385031424,-1.5707957068367937,-0.41200102173484376],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.359999999998589,"joint_targets_rad":[-1.9827972839666832,-1.537730275860978,1.2717722821278212,-1.3048439002535637,-1.5707957650101332,-0.4120009623959085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.379999999998578,"joint_targets_rad":[-1.982797230561277,-1.5377296753694352,1.2717712704388116,-1.304842962863968,-1.570795817734562,-0.4120009086098335],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.399999999998567,"joint_targets_rad":[-1.982797182165443,-1.5377291372330637,1.271770362270399,-1.3048421163217392,-1.5707958655187995,-0.4120008598587093],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.419999999998556,"joint_targets_rad":[-1.982797138310676,-1.5377286545371018,1.2717695464086445,-1.3048413516459583,-1.5707959088243597,-0.4120008156726287],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.439999999998545,"joint_targets_rad":[-1.9827970985720402,-1.53772822120707,1.2717688129592732,-1.3048406607746392,-1.57079594806988,-0.41200077562529025],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.459999999998534,"joint_targets_rad":[-1.9827970625641609,-1.5377278318951708,1.2717681531756728,-1.3048400364653554,-1.5707959836350645,-0.41200073932999737],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.479999999998522,"joint_targets_rad":[-1.9827970299375757,-1.537727481883685,1.2717675593117457,-1.3048394722074872,-1.5707960158642678,-0.4120007064360146],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.499999999998511,"joint_targets_rad":[-1.9827970003754223,-1.5377271670026103,1.2717670244957169,-1.30483896214461,-1.5707960450697585,-0.41200067662525514],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.5199999999985,"joint_targets_rad":[-1.9827969735904154,-1.5377268835592612,1.2717665426216178,-1.3048385010057262,-1.5707960715346836,-0.41200064960926486],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.53999999999849,"joint_targets_rad":[-1.9827969493221114,-1.537726628277934,1.271766108255751,-1.304838084044244,-1.5707960955157698,-0.4120006251264824],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.559999999998478,"joint_targets_rad":[-1.9827969273344117,-1.5377263982480596,1.271765716555835,-1.3048377069837342,-1.5707961172457665,-0.4120006029397485],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.579999999998467,"joint_targets_rad":[-1.9827969074133056,-1.5377261908795377,1.2717653632009518,-1.3048373659696597,-1.570796136935677,-0.41200058283404234],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.599999999998456,"joint_targets_rad":[-1.9827968893648116,-1.537726003864151,1.2717650443306967,-1.3048370575263495,-1.5707961547767781,-0.4120005646144272],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.619999999998445,"joint_targets_rad":[-1.9827968730131125,-1.537725835142142,1.2717647564921792,-1.3048367785186052,-1.5707961709424536,-0.41200054810418474],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.639999999998434,"joint_targets_rad":[-1.9827968581988638,-1.5377256828731942,1.2717644965937618,-1.3048365261173969,-1.5707961855898642,-0.4120005331431158],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.659999999998423,"joint_targets_rad":[-1.9827968447776547,-1.5377255454111687,1.2717642618645877,-1.3048362977691867,-1.5707961988614563,-0.4120005195860078],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.679999999998412,"joint_targets_rad":[-1.982796832618614,-1.537725421282053,1.2717640498190697,-1.304836091168455,-1.5707962108863363,-0.41200050730123317],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.6999999999984,"joint_targets_rad":[-1.982796821603145,-1.5377253091646754,1.271763858225699,-1.3048359042330846,-1.5707962217815161,-0.41200049616948653],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.71999999999839,"joint_targets_rad":[-1.9827968116237786,-1.537725207873792,1.271763685079561,-1.3048357350822821,-1.5707962316530417,-0.41200048608263073],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.739999999998378,"joint_targets_rad":[-1.9827968025831304,-1.5377251163452232,1.2717635285780815,-1.304835582016754,-1.5707962405970177,-0.41200047694265873],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.759999999998367,"joint_targets_rad":[-1.9827967943929588,-1.5377250336227608,1.2717633870995764,-1.3048354435008984,-1.5707962487005385,-0.412000468660743],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.779999999998356,"joint_targets_rad":[-1.9827967869733067,-1.5377249588466262,1.2717632591842687,-1.3048353181468022,-1.5707962560425293,-0.41200046115638006],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.799999999998345,"joint_targets_rad":[-1.982796780251726,-1.5377248912432449,1.271763143517417,-1.304835204699836,-1.5707962626945131,-0.4120004543566112],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.819999999998334,"joint_targets_rad":[-1.982796774162574,-1.5377248301162083,1.2717630389143435,-1.3048351020256959,-1.5707962687213002,-0.412000448195316],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.839999999998323,"joint_targets_rad":[-1.982796768646376,-1.5377247748382403,1.271762944307097,-1.3048350090987302,-1.5707962741816217,-0.4120004426125752],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.859999999998312,"joint_targets_rad":[-1.9827967636492445,-1.5377247248440655,1.2717628587325676,-1.3048349249914262,-1.5707962791286934,-0.41200043755408583],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.8799999999983,"joint_targets_rad":[-1.9827967591223576,-1.5377246796240567,1.2717627813218801,-1.3048348488649288,-1.5707962836107379,-0.412000432970641],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.89999999999829,"joint_targets_rad":[-1.9827967550214807,-1.5377246387185723,1.2717627112909122,-1.3048347799604956,-1.570796287671449,-0.4120004288176453],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.919999999998279,"joint_targets_rad":[-1.9827967513065388,-1.5377246017129071,1.2717626479318223,-1.3048347175917858,-1.5707962913504183,-0.4120004250546911],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.939999999998268,"joint_targets_rad":[-1.9827967479412238,-1.53772456823277,1.2717625906054435,-1.3048346611379014,-1.5707962946835203,-0.41200042164515843],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.959999999998256,"joint_targets_rad":[-1.9827967448926418,-1.537724537940252,1.2717625387344909,-1.3048346100371095,-1.5707962977032586,-0.41200041855586494],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.979999999998245,"joint_targets_rad":[-1.9827967421309922,-1.5377245105302022,1.2717624917974462,-1.3048345637811718,-1.570796300439085,-0.41200041575674246],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.999999999998234,"joint_targets_rad":[-1.9827967396292772,-1.5377244857269858,1.2717624493230761,-1.304834521910221,-1.5707963029176835,-0.41200041322054387],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.019999999998223,"joint_targets_rad":[-1.9827967373630369,-1.5377244632815745,1.2717624108855063,-1.3048344840081378,-1.570796305163233,-0.41200041092257916],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.039999999998212,"joint_targets_rad":[-1.9827967353101128,-1.5377244429689336,1.2717623760997947,-1.3048344496983728,-1.5707963071976392,-0.41200040884047734],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.059999999998201,"joint_targets_rad":[-1.9827967334504315,-1.5377244245856694,1.2717623446179385,-1.3048344186401648,-1.5707963090407502,-0.412000406953966],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.07999999999819,"joint_targets_rad":[-1.9827967317658068,-1.5377244079479222,1.271762316125289,-1.3048343905251285,-1.5707963107105494,-0.4120004052446758],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.099999999998179,"joint_targets_rad":[-1.982796730239764,-1.5377243928894646,1.2717622903373238,-1.3048343650741725,-1.5707963122233288,-0.4120004036959628],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.119999999998168,"joint_targets_rad":[-1.9827967288573778,-1.5377243792599882,1.2717622669967314,-1.3048343420347057,-1.5707963135938514,-0.41200040229274537],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.139999999998157,"joint_targets_rad":[-1.9827967276051275,-1.5377243669235636,1.2717622458707794,-1.304834321178113,-1.5707963148354909,-0.41200040102135754],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.159999999998146,"joint_targets_rad":[-1.9827967264707655,-1.5377243557572529,1.271762226748958,-1.304834302297478,-1.5707963159603655,-0.41200039986941633],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.179999999998135,"joint_targets_rad":[-1.9827967254431946,-1.5377243456498546,1.271762209440833,-1.304834285205515,-1.570796316979453,-0.41200039882570305],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.199999999998123,"joint_targets_rad":[-1.9827967245123637,-1.537724336500777,1.2717621937741277,-1.3048342697327087,-1.5707963179027007,-0.4120003978800513],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.219999999998112,"joint_targets_rad":[-1.9827967236691666,-1.5377243282190127,1.2717621795929677,-1.3048342557256174,-1.5707963187391196,-0.41200039702324903],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.239999999998101,"joint_targets_rad":[-1.9827967229053545,-1.5377243207222286,1.2717621667563277,-1.3048342430453543,-1.5707963194968746,-0.41200039624695034],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.25999999999809,"joint_targets_rad":[-1.9827967222134542,-1.5377243139359251,1.2717621551365947,-1.3048342315661996,-1.5707963201833623,-0.4120003955435923],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.27999999999808,"joint_targets_rad":[-1.9827967215866968,-1.5377243077926934,1.2717621446182972,-1.304834221174353,-1.5707963208052849,-0.4120003949063227],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.299999999998068,"joint_targets_rad":[-1.9827967210189499,-1.537724302231533,1.2717621350969388,-1.304834211766802,-1.5707963213687133,-0.4120003943289328],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.319999999998057,"joint_targets_rad":[-1.9827967205046584,-1.5377242971972422,1.2717621264779555,-1.304834203250298,-1.5707963218791483,-0.41200039380579806],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.339999999998046,"joint_targets_rad":[-1.9827967200387897,-1.537724292639864,1.2717621186757655,-1.3048341955404292,-1.5707963223415735,-0.41200039333182],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.359999999998035,"joint_targets_rad":[-1.9827967196167853,-1.5377242885141866,1.271762111612918,-1.304834188560786,-1.5707963227605037,-0.41200039290238044],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.379999999998024,"joint_targets_rad":[-1.982796719234516,-1.5377242847792896,1.2717621052193102,-1.3048341822421954,-1.5707963231400297,-0.4120003925132959],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.399999999998013,"joint_targets_rad":[-1.9827967188882405,-1.5377242813981356,1.2717620994314969,-1.304834176522042,-1.5707963234838576,-0.4120003921607737],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.419999999998002,"joint_targets_rad":[-1.9827967185745707,-1.537724278337205,1.271762094192053,-1.3048341713436404,-1.570796323795344,-0.4120003918413794],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.43999999999799,"joint_targets_rad":[-1.9827967182904358,-1.5377242755661555,1.2717620894490052,-1.3048341666556802,-1.5707963240775304,-0.412000391551999],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.45999999999798,"joint_targets_rad":[-1.982796718033056,-1.5377242730575218,1.2717620851553026,-1.3048341624117055,-1.5707963243331733,-0.4120003912898148],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.479999999997968,"joint_targets_rad":[-1.982796717799912,-1.5377242707864454,1.2717620812683643,-1.3048341585696661,-1.5707963245647687,-0.4120003910522694],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.499999999997957,"joint_targets_rad":[-1.982796717588722,-1.5377242687304218,1.2717620777496421,-1.3048341550914935,-1.5707963247745789,-0.41200039083704704],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.519999999997946,"joint_targets_rad":[-1.9827967173974186,-1.5377242668690834,1.2717620745642493,-1.3048341519427265,-1.570796324964652,-0.41200039064205296],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.539999999997935,"joint_targets_rad":[-1.9827967172241299,-1.5377242651839893,1.2717620716805988,-1.304834149092166,-1.5707963251368446,-0.41200039046538406],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.559999999997924,"joint_targets_rad":[-1.9827967170671592,-1.537724263658447,1.2717620690701017,-1.3048341465115687,-1.5707963252928399,-0.41200039030531915],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.579999999997913,"joint_targets_rad":[-1.982796716924971,-1.537724262277349,1.271762066706882,-1.304834144175369,-1.5707963254341597,-0.41200039016029766],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.599999999997902,"joint_targets_rad":[-1.9827967167961722,-1.5377242610270148,1.271762064567511,-1.3048341420604195,-1.5707963255621848,-0.41200039002890626],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.61999999999789,"joint_targets_rad":[-1.9827967166795029,-1.5377242598950618,1.271762062630782,-1.3048341401457662,-1.5707963256781665,-0.41200038990986365],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.63999999999788,"joint_targets_rad":[-1.9827967165738203,-1.5377242588702806,1.2717620608774995,-1.3048341384124407,-1.5707963257832367,-0.41200038980201],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.659999999997869,"joint_targets_rad":[-1.9827967164780902,-1.5377242579425225,1.2717620592902845,-1.3048341368432692,-1.5707963258784223,-0.412000389704293],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.679999999997857,"joint_targets_rad":[-1.9827967163913758,-1.5377242571026017,1.2717620578534081,-1.3048341354227075,-1.5707963259646531,-0.4120003896157618],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.699999999997846,"joint_targets_rad":[-1.9827967163128275,-1.5377242563422007,1.2717620565526255,-1.3048341341366783,-1.5707963260427713,-0.41200038953555057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.719999999997835,"joint_targets_rad":[-1.982796716241677,-1.5377242556537905,1.2717620553750486,-1.3048341329724442,-1.5707963261135405,-0.4120003894628798],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.739999999997824,"joint_targets_rad":[-1.9827967161772266,-1.5377242550305548,1.2717620543090062,-1.3048341319184686,-1.5707963261776507,-0.4120003893970382],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.759999999997813,"joint_targets_rad":[-1.9827967161188467,-1.5377242544663243,1.2717620533439353,-1.3048341309643106,-1.5707963262357298,-0.4120003893373868],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.779999999997802,"joint_targets_rad":[-1.9827967160659643,-1.5377242539555116,1.2717620524702702,-1.3048341301005166,-1.5707963262883446,-0.412000389283342],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.799999999997791,"joint_targets_rad":[-1.982796716018063,-1.5377242534930595,1.2717620516793546,-1.3048341293185295,-1.5707963263360092,-0.41200038923437776],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.81999999999778,"joint_targets_rad":[-1.9827967159746729,-1.537724253074389,1.2717620509633485,-1.3048341286106,-1.570796326379189,-0.41200038919001514],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.839999999997769,"joint_targets_rad":[-1.9827967159353697,-1.5377242526953545,1.2717620503151568,-1.304834127969716,-1.5707963264183065,-0.41200038914982356],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.859999999997758,"joint_targets_rad":[-1.9827967158997677,-1.5377242523522057,1.2717620497283593,-1.3048341273895279,-1.5707963264537432,-0.4120003891134098],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.879999999997747,"joint_targets_rad":[-1.982796715867519,-1.5377242520415424,1.2717620491971382,-1.3048341268642876,-1.570796326485846,-0.4120003890804199],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.899999999997736,"joint_targets_rad":[-1.9827967158383077,-1.5377242517602925,1.2717620487162333,-1.304834126388792,-1.5707963265149278,-0.41200038905053016],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.919999999997724,"joint_targets_rad":[-1.9827967158118482,-1.5377242515056684,1.2717620482808742,-1.3048341259583278,-1.5707963265412734,-0.4120003890234507],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.939999999997713,"joint_targets_rad":[-1.9827967157878805,-1.5377242512751503,1.2717620478867504,-1.3048341255686327,-1.5707963265651403,-0.41200038899891717],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.959999999997702,"joint_targets_rad":[-1.9827967157661706,-1.537724251066457,1.2717620475299558,-1.3048341252158444,-1.5707963265867613,-0.4120003889766899],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.979999999997691,"joint_targets_rad":[-1.9827967157465047,-1.5377242508775206,1.2717620472069535,-1.3048341248964679,-1.5707963266063478,-0.4120003889565516],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.99999999999768,"joint_targets_rad":[-1.9827967157286919,-1.5377242507064728,1.2717620469145454,-1.3048341246073394,-1.5707963266240912,-0.4120003889383073],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.019999999997669,"joint_targets_rad":[-1.9827967157125568,-1.5377242505516184,1.2717620466498323,-1.3048341243455936,-1.5707963266401652,-0.41200038892177826],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.039999999997658,"joint_targets_rad":[-1.9827967156979414,-1.5377242504114246,1.2717620464101898,-1.304834124108637,-1.5707963266547267,-0.41200038890680246],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.059999999997647,"joint_targets_rad":[-1.9827967156847022,-1.5377242502845034,1.2717620461932453,-1.304834123894123,-1.5707963266679181,-0.4120003888932346],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.079999999997636,"joint_targets_rad":[-1.9827967156727107,-1.5377242501695987,1.2717620459968484,-1.304834123699925,-1.570796326679868,-0.4120003888809436],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.099999999997625,"joint_targets_rad":[-1.9827967156618487,-1.5377242500655735,1.2717620458190544,-1.30483412352412,-1.5707963266906935,-0.4120003888698068],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.119999999997614,"joint_targets_rad":[-1.9827967156520094,-1.5377242499713963,1.271762045658099,-1.3048341233649647,-1.5707963267005003,-0.4120003888597181],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.139999999997602,"joint_targets_rad":[-1.9827967156430977,-1.5377242498861357,1.271762045512389,-1.304834123220884,-1.5707963267093843,-0.4120003888505769],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.159999999997591,"joint_targets_rad":[-1.9827967156350248,-1.5377242498089472,1.2717620453804799,-1.3048341230904492,-1.570796326717432,-0.41200038884229606],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.17999999999758,"joint_targets_rad":[-1.9827967156277126,-1.5377242497390669,1.2717620452610643,-1.304834122972367,-1.5707963267247227,-0.4120003888347933],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.19999999999757,"joint_targets_rad":[-1.982796715621089,-1.5377242496758026,1.2717620451529594,-1.3048341228654694,-1.5707963267313274,-0.4120003888279958],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.219999999997558,"joint_targets_rad":[-1.9827967156150896,-1.537724249618528,1.2717620450550937,-1.3048341227686964,-1.5707963267373102,-0.4120003888218384],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.239999999997547,"joint_targets_rad":[-1.9827967156096558,-1.5377242495666763,1.2717620449664973,-1.304834122681088,-1.57079632674273,-0.41200038881625894],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.259999999997536,"joint_targets_rad":[-1.982796715604733,-1.5377242495197334,1.271762044886293,-1.3048341226017788,-1.57079632674764,-0.41200038881120465],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.279999999997525,"joint_targets_rad":[-1.982796715600274,-1.5377242494772354,1.2717620448136846,-1.3048341225299795,-1.570796326752088,-0.4120003888066254],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.299999999997514,"joint_targets_rad":[-1.9827967155962358,-1.537724249438761,1.271762044747954,-1.3048341224649813,-1.5707963267561167,-0.41200038880247714],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.319999999997503,"joint_targets_rad":[-1.9827967155925774,-1.5377242494039298,1.2717620446884492,-1.3048341224061393,-1.5707963267597673,-0.41200038879871825],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.339999999997492,"joint_targets_rad":[-1.9827967155892636,-1.5377242493723957,1.2717620446345799,-1.3048341223528699,-1.5707963267630736,-0.4120003887953131],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.35999999999748,"joint_targets_rad":[-1.982796715586263,-1.5377242493438488,1.2717620445858147,-1.304834122304647,-1.5707963267660685,-0.41200038879222833],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.37999999999747,"joint_targets_rad":[-1.982796715583544,-1.5377242493180037,1.2717620445416675,-1.3048341222609907,-1.570796326768782,-0.41200038878943374],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.399999999997458,"joint_targets_rad":[-1.9827967155810815,-1.5377242492946055,1.271762044501701,-1.3048341222214694,-1.5707963267712404,-0.4120003887869011],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.419999999997447,"joint_targets_rad":[-1.9827967155788508,-1.5377242492734229,1.2717620444655207,-1.3048341221856912,-1.5707963267734668,-0.41200038878460754],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.439999999997436,"joint_targets_rad":[-1.9827967155768305,-1.5377242492542458,1.271762044432767,-1.3048341221533017,-1.570796326775484,-0.4120003887825293],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.459999999997425,"joint_targets_rad":[-1.9827967155750006,-1.5377242492368846,1.2717620444031157,-1.3048341221239799,-1.5707963267773113,-0.4120003887806469],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.479999999997414,"joint_targets_rad":[-1.9827967155733426,-1.5377242492211673,1.2717620443762738,-1.304834122097436,-1.5707963267789666,-0.4120003887789409],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.499999999997403,"joint_targets_rad":[-1.9827967155718416,-1.5377242492069387,1.2717620443519742,-1.3048341220734054,-1.570796326780466,-0.412000388777396],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.519999999997392,"joint_targets_rad":[-1.982796715570481,-1.5377242491940564,1.2717620443299757,-1.3048341220516524,-1.5707963267818246,-0.41200038877599565],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.53999999999738,"joint_targets_rad":[-1.9827967155692492,-1.5377242491823937,1.2717620443100601,-1.3048341220319577,-1.570796326783055,-0.4120003887747279],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.55999999999737,"joint_targets_rad":[-1.9827967155681336,-1.5377242491718361,1.2717620442920328,-1.30483412201413,-1.5707963267841696,-0.41200038877357814],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.579999999997359,"joint_targets_rad":[-1.9827967155671231,-1.5377242491622778,1.2717620442757127,-1.3048341219979909,-1.5707963267851792,-0.41200038877253786],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.599999999997348,"joint_targets_rad":[-1.9827967155662076,-1.5377242491536245,1.271762044260937,-1.304834121983379,-1.5707963267860943,-0.4120003887715946],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.619999999997336,"joint_targets_rad":[-1.9827967155653783,-1.5377242491457905,1.2717620442475617,-1.3048341219701522,-1.5707963267869227,-0.41200038877073997],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.639999999997325,"joint_targets_rad":[-1.982796715564627,-1.537724249138699,1.271762044235454,-1.3048341219581778,-1.5707963267876737,-0.4120003887699662],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.659999999997314,"joint_targets_rad":[-1.9827967155639468,-1.5377242491322785,1.2717620442244921,-1.3048341219473378,-1.5707963267883536,-0.41200038876926476],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.679999999997303,"joint_targets_rad":[-1.9827967155633308,-1.5377242491264658,1.2717620442145698,-1.304834121937525,-1.5707963267889693,-0.41200038876862943],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.699999999997292,"joint_targets_rad":[-1.9827967155627721,-1.5377242491212038,1.2717620442055861,-1.3048341219286408,-1.5707963267895273,-0.41200038876805417],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.719999999997281,"joint_targets_rad":[-1.9827967155622672,-1.5377242491164398,1.271762044197454,-1.3048341219205986,-1.570796326790033,-0.41200038876753303],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.73999999999727,"joint_targets_rad":[-1.9827967155618091,-1.537724249112128,1.2717620441900934,-1.3048341219133184,-1.5707963267904907,-0.4120003887670606],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.759999999997259,"joint_targets_rad":[-1.9827967155613941,-1.5377242491082224,1.2717620441834272,-1.304834121906727,-1.5707963267909055,-0.4120003887666322],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.779999999997248,"joint_targets_rad":[-1.9827967155610187,-1.5377242491046876,1.2717620441773938,-1.3048341219007606,-1.5707963267912814,-0.4120003887662447],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.799999999997237,"joint_targets_rad":[-1.9827967155606783,-1.5377242491014878,1.2717620441719324,-1.3048341218953587,-1.5707963267916214,-0.41200038876589357],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.819999999997226,"joint_targets_rad":[-1.9827967155603703,-1.537724249098591,1.2717620441669883,-1.3048341218904695,-1.5707963267919298,-0.4120003887655753],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.839999999997215,"joint_targets_rad":[-1.982796715560091,-1.537724249095968,1.2717620441625124,-1.304834121886043,-1.5707963267922094,-0.41200038876528705],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.859999999997203,"joint_targets_rad":[-1.982796715559838,-1.5377242490935945,1.2717620441584612,-1.3048341218820356,-1.5707963267924623,-0.4120003887650261],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.879999999997192,"joint_targets_rad":[-1.982796715559609,-1.5377242490914442,1.2717620441547917,-1.3048341218784072,-1.5707963267926912,-0.4120003887647898],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.899999999997181,"joint_targets_rad":[-1.9827967155594015,-1.5377242490894982,1.2717620441514714,-1.3048341218751243,-1.570796326792899,-0.4120003887645754],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.91999999999717,"joint_targets_rad":[-1.9827967155592137,-1.5377242490877365,1.271762044148465,-1.3048341218721506,-1.5707963267930871,-0.4120003887643809],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.939999999997159,"joint_targets_rad":[-1.9827967155590436,-1.537724249086142,1.2717620441457436,-1.3048341218694588,-1.5707963267932574,-0.4120003887642046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.959999999997148,"joint_targets_rad":[-1.9827967155588893,-1.5377242490846978,1.2717620441432795,-1.3048341218670223,-1.5707963267934117,-0.41200038876404554],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.979999999997137,"joint_targets_rad":[-1.9827967155587496,-1.5377242490833916,1.2717620441410502,-1.304834121864817,-1.5707963267935514,-0.41200038876390144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.999999999997126,"joint_targets_rad":[-1.982796715558623,-1.5377242490822076,1.2717620441390307,-1.3048341218628199,-1.5707963267936782,-0.41200038876377054],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.019999999997115,"joint_targets_rad":[-1.9827967155585087,-1.5377242490811365,1.2717620441372026,-1.3048341218610124,-1.5707963267937928,-0.41200038876365236],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.039999999997104,"joint_targets_rad":[-1.982796715558405,-1.5377242490801664,1.2717620441355482,-1.304834121859376,-1.5707963267938967,-0.41200038876354467],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.059999999997093,"joint_targets_rad":[-1.9827967155583108,-1.5377242490792893,1.2717620441340511,-1.304834121857895,-1.5707963267939908,-0.41200038876344713],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.079999999997082,"joint_targets_rad":[-1.9827967155582258,-1.5377242490784935,1.2717620441326938,-1.3048341218565531,-1.5707963267940763,-0.4120003887633598],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.09999999999707,"joint_targets_rad":[-1.982796715558149,-1.537724249077775,1.271762044131468,-1.3048341218553394,-1.5707963267941536,-0.41200038876327977],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.11999999999706,"joint_targets_rad":[-1.9827967155580788,-1.537724249077123,1.271762044130356,-1.3048341218542405,-1.5707963267942238,-0.41200038876320727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.139999999997048,"joint_targets_rad":[-1.9827967155580153,-1.5377242490765328,1.2717620441293491,-1.3048341218532455,-1.570796326794287,-0.4120003887631419],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.159999999997037,"joint_targets_rad":[-1.9827967155579584,-1.537724249075999,1.2717620441284394,-1.3048341218523452,-1.5707963267943443,-0.4120003887630825],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.179999999997026,"joint_targets_rad":[-1.9827967155579063,-1.537724249075516,1.2717620441276152,-1.3048341218515296,-1.5707963267943963,-0.4120003887630285],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.199999999997015,"joint_targets_rad":[-1.9827967155578594,-1.537724249075078,1.2717620441268678,-1.304834121850791,-1.5707963267944431,-0.4120003887629804],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.219999999997004,"joint_targets_rad":[-1.9827967155578168,-1.5377242490746819,1.271762044126192,-1.304834121850123,-1.5707963267944862,-0.4120003887629361],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.239999999996993,"joint_targets_rad":[-1.9827967155577781,-1.537724249074324,1.2717620441255817,-1.3048341218495185,-1.5707963267945249,-0.4120003887628964],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.259999999996982,"joint_targets_rad":[-1.9827967155577435,-1.5377242490739989,1.271762044125027,-1.3048341218489707,-1.5707963267945597,-0.41200038876285966],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.27999999999697,"joint_targets_rad":[-1.9827967155577115,-1.5377242490737044,1.271762044124526,-1.3048341218484754,-1.5707963267945915,-0.41200038876282746],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.29999999999696,"joint_targets_rad":[-1.982796715557683,-1.537724249073439,1.2717620441240725,-1.3048341218480264,-1.5707963267946203,-0.4120003887627975],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.319999999996949,"joint_targets_rad":[-1.982796715557657,-1.5377242490731984,1.2717620441236621,-1.30483412184762,-1.5707963267946463,-0.4120003887627704],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.339999999996937,"joint_targets_rad":[-1.9827967155576336,-1.53772424907298,1.2717620441232895,-1.304834121847252,-1.57079632679467,-0.4120003887627462],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.359999999996926,"joint_targets_rad":[-1.982796715557612,-1.537724249072783,1.2717620441229534,-1.3048341218469188,-1.5707963267946912,-0.41200038876272427],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.379999999996915,"joint_targets_rad":[-1.9827967155575927,-1.5377242490726037,1.2717620441226478,-1.3048341218466173,-1.5707963267947105,-0.4120003887627039],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.399999999996904,"joint_targets_rad":[-1.9827967155575754,-1.5377242490724423,1.271762044122373,-1.304834121846345,-1.570796326794728,-0.41200038876268585],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.419999999996893,"joint_targets_rad":[-1.9827967155575597,-1.5377242490722953,1.2717620441221227,-1.304834121846098,-1.570796326794744,-0.41200038876266987],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.439999999996882,"joint_targets_rad":[-1.9827967155575454,-1.537724249072163,1.2717620441218966,-1.3048341218458743,-1.570796326794758,-0.4120003887626541],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.459999999996871,"joint_targets_rad":[-1.9827967155575326,-1.5377242490720426,1.2717620441216917,-1.304834121845672,-1.5707963267947713,-0.4120003887626409],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.47999999999686,"joint_targets_rad":[-1.9827967155575208,-1.5377242490719345,1.271762044121507,-1.3048341218454889,-1.5707963267947833,-0.4120003887626294],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.499999999996849,"joint_targets_rad":[-1.9827967155575101,-1.537724249071836,1.271762044121339,-1.3048341218453228,-1.570796326794794,-0.41200038876261763],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.519999999996838,"joint_targets_rad":[-1.9827967155575001,-1.5377242490717469,1.2717620441211872,-1.3048341218451724,-1.5707963267948033,-0.4120003887626076],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.539999999996827,"joint_targets_rad":[-1.9827967155574915,-1.5377242490716656,1.2717620441210487,-1.304834121845036,-1.5707963267948124,-0.4120003887625989],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.559999999996815,"joint_targets_rad":[-1.9827967155574837,-1.5377242490715928,1.2717620441209243,-1.304834121844913,-1.5707963267948202,-0.4120003887625904],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.579999999996804,"joint_targets_rad":[-1.9827967155574764,-1.537724249071527,1.2717620441208128,-1.3048341218448023,-1.5707963267948275,-0.412000388762583],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.599999999996793,"joint_targets_rad":[-1.9827967155574697,-1.5377242490714675,1.2717620441207116,-1.304834121844702,-1.5707963267948342,-0.41200038876257616],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.619999999996782,"joint_targets_rad":[-1.982796715557464,-1.5377242490714131,1.271762044120618,-1.3048341218446096,-1.57079632679484,-0.41200038876257034],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.639999999996771,"joint_targets_rad":[-1.9827967155574586,-1.5377242490713645,1.2717620441205355,-1.3048341218445276,-1.570796326794845,-0.41200038876256406],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.65999999999676,"joint_targets_rad":[-1.9827967155574542,-1.5377242490713199,1.2717620441204598,-1.3048341218444526,-1.57079632679485,-0.4120003887625597],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.679999999996749,"joint_targets_rad":[-1.9827967155574497,-1.5377242490712795,1.2717620441203905,-1.3048341218443846,-1.5707963267948544,-0.41200038876255507],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.699999999996738,"joint_targets_rad":[-1.9827967155574453,-1.5377242490712433,1.2717620441203286,-1.3048341218443231,-1.5707963267948586,-0.41200038876255096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.719999999996727,"joint_targets_rad":[-1.9827967155574417,-1.53772424907121,1.271762044120272,-1.3048341218442676,-1.5707963267948621,-0.4120003887625473],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.739999999996716,"joint_targets_rad":[-1.9827967155574389,-1.5377242490711802,1.271762044120222,-1.304834121844218,-1.5707963267948655,-0.4120003887625438],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.759999999996705,"joint_targets_rad":[-1.9827967155574358,-1.5377242490711533,1.2717620441201758,-1.3048341218441717,-1.5707963267948681,-0.4120003887625412],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.779999999996694,"joint_targets_rad":[-1.9827967155574333,-1.5377242490711291,1.2717620441201347,-1.3048341218441315,-1.5707963267948708,-0.41200038876253803],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.799999999996682,"joint_targets_rad":[-1.9827967155574306,-1.5377242490711074,1.2717620441200976,-1.3048341218440942,-1.5707963267948732,-0.4120003887625355],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.819999999996671,"joint_targets_rad":[-1.9827967155574289,-1.5377242490710874,1.2717620441200626,-1.3048341218440598,-1.5707963267948755,-0.4120003887625333],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.83999999999666,"joint_targets_rad":[-1.9827967155574266,-1.5377242490710685,1.2717620441200312,-1.3048341218440294,-1.5707963267948777,-0.41200038876253126],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.85999999999665,"joint_targets_rad":[-1.9827967155574249,-1.5377242490710523,1.2717620441200037,-1.3048341218440014,-1.5707963267948792,-0.4120003887625293],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.879999999996638,"joint_targets_rad":[-1.982796715557423,-1.5377242490710377,1.2717620441199782,-1.3048341218439765,-1.570796326794881,-0.4120003887625276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.899999999996627,"joint_targets_rad":[-1.982796715557422,-1.5377242490710241,1.2717620441199555,-1.304834121843954,-1.5707963267948823,-0.41200038876252654],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.919999999996616,"joint_targets_rad":[-1.9827967155574207,-1.537724249071012,1.2717620441199347,-1.3048341218439337,-1.570796326794884,-0.4120003887625252],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.939999999996605,"joint_targets_rad":[-1.982796715557419,-1.5377242490710006,1.2717620441199153,-1.3048341218439146,-1.5707963267948852,-0.4120003887625234],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.959999999996594,"joint_targets_rad":[-1.982796715557418,-1.5377242490709904,1.2717620441198985,-1.3048341218438981,-1.5707963267948863,-0.41200038876252215],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.979999999996583,"joint_targets_rad":[-1.982796715557417,-1.537724249070982,1.271762044119883,-1.3048341218438826,-1.5707963267948872,-0.4120003887625213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.999999999996572,"joint_targets_rad":[-1.9827967155574162,-1.5377242490709735,1.271762044119869,-1.3048341218438686,-1.570796326794888,-0.4120003887625204],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.019999999996596,"joint_targets_rad":[-1.9827967155574155,-1.5377242490709662,1.2717620441198567,-1.3048341218438566,-1.5707963267948888,-0.41200038876251927],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.03999999999662,"joint_targets_rad":[-1.9827967155574149,-1.53772424907096,1.271762044119846,-1.3048341218438455,-1.5707963267948897,-0.41200038876251877],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.059999999996645,"joint_targets_rad":[-1.9827967155574142,-1.5377242490709542,1.2717620441198358,-1.3048341218438355,-1.5707963267948901,-0.4120003887625179],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.07999999999667,"joint_targets_rad":[-1.9827967155574135,-1.5377242490709484,1.2717620441198263,-1.304834121843826,-1.5707963267948908,-0.41200038876251727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.099999999996694,"joint_targets_rad":[-1.9827967155574129,-1.537724249070943,1.2717620441198174,-1.3048341218438178,-1.5707963267948915,-0.4120003887625167],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.11999999999672,"joint_targets_rad":[-1.9827967155574124,-1.5377242490709386,1.2717620441198096,-1.30483412184381,-1.5707963267948921,-0.41200038876251643],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.139999999996743,"joint_targets_rad":[-1.982796715557412,-1.537724249070935,1.2717620441198036,-1.3048341218438033,-1.5707963267948923,-0.4120003887625159],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.159999999996767,"joint_targets_rad":[-1.9827967155574113,-1.537724249070931,1.271762044119797,-1.304834121843797,-1.5707963267948928,-0.4120003887625154],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.17999999999679,"joint_targets_rad":[-1.9827967155574113,-1.5377242490709273,1.2717620441197908,-1.304834121843791,-1.5707963267948932,-0.4120003887625151],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.199999999996816,"joint_targets_rad":[-1.9827967155574109,-1.537724249070924,1.271762044119785,-1.3048341218437856,-1.5707963267948934,-0.41200038876251466],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.21999999999684,"joint_targets_rad":[-1.9827967155574107,-1.5377242490709224,1.2717620441197819,-1.3048341218437816,-1.5707963267948937,-0.41200038876251494],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.239999999996865,"joint_targets_rad":[-1.9827967155574104,-1.5377242490709193,1.2717620441197763,-1.3048341218437771,-1.570796326794894,-0.4120003887625139],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.25999999999689,"joint_targets_rad":[-1.98279671555741,-1.537724249070917,1.271762044119773,-1.3048341218437738,-1.5707963267948941,-0.41200038876251355],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.279999999996914,"joint_targets_rad":[-1.9827967155574098,-1.5377242490709147,1.2717620441197683,-1.3048341218437691,-1.5707963267948943,-0.4120003887625139],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.29999999999694,"joint_targets_rad":[-1.9827967155574093,-1.5377242490709133,1.2717620441197661,-1.3048341218437667,-1.5707963267948946,-0.4120003887625131],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.319999999996963,"joint_targets_rad":[-1.9827967155574096,-1.5377242490709118,1.2717620441197637,-1.3048341218437645,-1.5707963267948948,-0.41200038876251344],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.339999999996987,"joint_targets_rad":[-1.982796715557409,-1.53772424907091,1.2717620441197608,-1.3048341218437616,-1.5707963267948948,-0.41200038876251294],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.35999999999701,"joint_targets_rad":[-1.9827967155574093,-1.5377242490709084,1.2717620441197586,-1.3048341218437594,-1.570796326794895,-0.412000388762513],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.379999999997036,"joint_targets_rad":[-1.9827967155574089,-1.5377242490709069,1.271762044119756,-1.3048341218437571,-1.5707963267948954,-0.4120003887625126],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.39999999999706,"joint_targets_rad":[-1.9827967155574089,-1.5377242490709067,1.271762044119755,-1.3048341218437554,-1.5707963267948954,-0.4120003887625127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.419999999997085,"joint_targets_rad":[-1.9827967155574089,-1.5377242490709053,1.2717620441197526,-1.3048341218437534,-1.5707963267948957,-0.4120003887625126],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.43999999999711,"joint_targets_rad":[-1.9827967155574089,-1.5377242490709042,1.2717620441197508,-1.304834121843752,-1.570796326794896,-0.41200038876251255],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.459999999997134,"joint_targets_rad":[-1.9827967155574087,-1.5377242490709035,1.2717620441197497,-1.3048341218437507,-1.570796326794896,-0.4120003887625123],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.47999999999716,"joint_targets_rad":[-1.9827967155574084,-1.5377242490709027,1.2717620441197484,-1.3048341218437496,-1.5707963267948957,-0.4120003887625125],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.499999999997183,"joint_targets_rad":[-1.9827967155574082,-1.537724249070902,1.2717620441197472,-1.3048341218437485,-1.570796326794896,-0.41200038876251194],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.519999999997207,"joint_targets_rad":[-1.9827967155574082,-1.5377242490709013,1.2717620441197466,-1.3048341218437478,-1.5707963267948961,-0.41200038876251244],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.53999999999723,"joint_targets_rad":[-1.982796715557408,-1.5377242490709007,1.2717620441197457,-1.304834121843747,-1.5707963267948961,-0.4120003887625119],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.559999999997256,"joint_targets_rad":[-1.9827967155574082,-1.5377242490709004,1.2717620441197446,-1.3048341218437454,-1.5707963267948961,-0.4120003887625116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.57999999999728,"joint_targets_rad":[-1.9827967155574082,-1.5377242490708998,1.2717620441197435,-1.3048341218437445,-1.5707963267948963,-0.41200038876251177],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.599999999997305,"joint_targets_rad":[-1.9827967155574082,-1.5377242490708989,1.2717620441197426,-1.3048341218437443,-1.5707963267948963,-0.412000388762512],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.61999999999733,"joint_targets_rad":[-1.9827967155574082,-1.5377242490708993,1.2717620441197428,-1.3048341218437438,-1.5707963267948961,-0.4120003887625124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.639999999997354,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708989,1.2717620441197421,-1.3048341218437427,-1.5707963267948961,-0.4120003887625118],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.65999999999738,"joint_targets_rad":[-1.982796715557408,-1.5377242490708989,1.2717620441197413,-1.304834121843742,-1.5707963267948963,-0.4120003887625117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.679999999997403,"joint_targets_rad":[-1.9827967155574078,-1.537724249070898,1.2717620441197404,-1.3048341218437411,-1.5707963267948963,-0.4120003887625115],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.699999999997427,"joint_targets_rad":[-1.982796715557408,-1.5377242490708978,1.2717620441197401,-1.3048341218437411,-1.5707963267948966,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.71999999999745,"joint_targets_rad":[-1.9827967155574078,-1.537724249070898,1.2717620441197401,-1.3048341218437411,-1.5707963267948961,-0.4120003887625116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.739999999997476,"joint_targets_rad":[-1.982796715557408,-1.5377242490708976,1.27176204411974,-1.3048341218437411,-1.5707963267948966,-0.4120003887625124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.7599999999975,"joint_targets_rad":[-1.982796715557408,-1.5377242490708976,1.27176204411974,-1.3048341218437403,-1.5707963267948968,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.779999999997525,"joint_targets_rad":[-1.982796715557408,-1.5377242490708969,1.2717620441197388,-1.3048341218437398,-1.5707963267948963,-0.4120003887625116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.79999999999755,"joint_targets_rad":[-1.9827967155574078,-1.537724249070897,1.271762044119739,-1.30483412184374,-1.5707963267948963,-0.41200038876251116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.819999999997574,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708969,1.2717620441197388,-1.3048341218437398,-1.5707963267948963,-0.41200038876251127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.839999999997598,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708969,1.2717620441197384,-1.3048341218437396,-1.5707963267948966,-0.41200038876251144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.859999999997623,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708967,1.271762044119738,-1.3048341218437387,-1.5707963267948968,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.879999999997647,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708967,1.2717620441197377,-1.3048341218437387,-1.5707963267948966,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.89999999999767,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708958,1.2717620441197373,-1.3048341218437387,-1.5707963267948966,-0.4120003887625114],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.919999999997696,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708969,1.2717620441197388,-1.3048341218437391,-1.570796326794897,-0.41200038876251105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.93999999999772,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708962,1.2717620441197368,-1.304834121843738,-1.5707963267948966,-0.4120003887625114],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.959999999997745,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.304834121843738,-1.5707963267948966,-0.41200038876251166],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.97999999999777,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437385,-1.5707963267948968,-0.4120003887625111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.999999999997794,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708964,1.271762044119738,-1.3048341218437387,-1.570796326794897,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.019999999997818,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708962,1.2717620441197377,-1.3048341218437385,-1.5707963267948963,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.039999999997843,"joint_targets_rad":[-1.982796715557408,-1.537724249070896,1.271762044119737,-1.304834121843738,-1.5707963267948966,-0.4120003887625117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.059999999997867,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708964,1.2717620441197375,-1.304834121843738,-1.5707963267948966,-0.41200038876251155],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.07999999999789,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708962,1.2717620441197375,-1.304834121843738,-1.5707963267948966,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.099999999997916,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.271762044119737,-1.3048341218437383,-1.5707963267948968,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.11999999999794,"joint_targets_rad":[-1.982796715557408,-1.537724249070896,1.2717620441197375,-1.3048341218437383,-1.5707963267948966,-0.41200038876251177],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.139999999997965,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708962,1.2717620441197375,-1.3048341218437378,-1.5707963267948966,-0.412000388762512],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.15999999999799,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708964,1.2717620441197375,-1.3048341218437378,-1.5707963267948963,-0.4120003887625111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.179999999998014,"joint_targets_rad":[-1.982796715557408,-1.537724249070896,1.2717620441197373,-1.3048341218437378,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.199999999998038,"joint_targets_rad":[-1.9827967155574076,-1.537724249070896,1.271762044119737,-1.304834121843738,-1.5707963267948968,-0.4120003887625114],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.219999999998063,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.271762044119736,-1.3048341218437374,-1.5707963267948968,-0.4120003887625105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.239999999998087,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.271762044119737,-1.304834121843738,-1.5707963267948966,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.25999999999811,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.41200038876251155],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.279999999998136,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197366,-1.304834121843738,-1.5707963267948968,-0.4120003887625104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.29999999999816,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.319999999998185,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708958,1.2717620441197366,-1.304834121843738,-1.5707963267948966,-0.41200038876251055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.33999999999821,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948968,-0.41200038876251155],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.359999999998234,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708949,1.2717620441197357,-1.3048341218437376,-1.5707963267948966,-0.4120003887625101],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.379999999998258,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.41200038876251094],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.399999999998283,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.419999999998307,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.43999999999833,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437371,-1.5707963267948963,-0.4120003887625104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.459999999998356,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.47999999999838,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708949,1.2717620441197355,-1.3048341218437371,-1.5707963267948966,-0.4120003887625114],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.499999999998405,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.51999999999843,"joint_targets_rad":[-1.9827967155574078,-1.537724249070896,1.271762044119737,-1.3048341218437376,-1.5707963267948966,-0.41200038876251116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.539999999998454,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437378,-1.5707963267948966,-0.41200038876251144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.559999999998478,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197361,-1.3048341218437371,-1.5707963267948966,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.579999999998503,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948966,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.599999999998527,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.61999999999855,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.271762044119737,-1.304834121843738,-1.5707963267948968,-0.41200038876251155],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.639999999998576,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437378,-1.5707963267948968,-0.41200038876251016],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.6599999999986,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708949,1.2717620441197355,-1.304834121843737,-1.5707963267948966,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.679999999998625,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197353,-1.304834121843737,-1.5707963267948963,-0.41200038876251166],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.69999999999865,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708949,1.2717620441197355,-1.3048341218437374,-1.5707963267948966,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.719999999998674,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948963,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.739999999998698,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197361,-1.304834121843738,-1.5707963267948966,-0.4120003887625117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.759999999998723,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.4120003887625116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.779999999998747,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708949,1.2717620441197355,-1.304834121843737,-1.5707963267948966,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.79999999999877,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708944,1.2717620441197353,-1.3048341218437371,-1.5707963267948968,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.819999999998796,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.271762044119736,-1.3048341218437371,-1.5707963267948966,-0.41200038876251144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.83999999999882,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708949,1.2717620441197357,-1.3048341218437376,-1.5707963267948968,-0.41200038876251127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.859999999998845,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708947,1.2717620441197353,-1.3048341218437371,-1.5707963267948966,-0.4120003887625101],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.87999999999887,"joint_targets_rad":[-1.982796715557408,-1.5377242490708953,1.2717620441197355,-1.3048341218437371,-1.5707963267948966,-0.4120003887625117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.899999999998894,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.304834121843738,-1.5707963267948968,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.919999999998918,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197355,-1.304834121843737,-1.5707963267948966,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.939999999998943,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.959999999998967,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.4120003887625116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.97999999999899,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948968,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.999999999999016,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.01999999999904,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.039999999999065,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948968,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.05999999999909,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708949,1.2717620441197357,-1.3048341218437374,-1.5707963267948968,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.079999999999114,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.41200038876251055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.099999999999138,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708958,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.41200038876251094],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.119999999999163,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197355,-1.3048341218437367,-1.5707963267948966,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.139999999999187,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.15999999999921,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948963,-0.4120003887625102],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.179999999999236,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197355,-1.3048341218437371,-1.570796326794897,-0.4120003887625102],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.19999999999926,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.41200038876251094],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.219999999999285,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197364,-1.304834121843738,-1.5707963267948966,-0.4120003887625101],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.23999999999931,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.259999999999334,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197361,-1.3048341218437371,-1.5707963267948968,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.279999999999358,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.299999999999383,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.319999999999407,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.33999999999943,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.359999999999456,"joint_targets_rad":[-1.9827967155574073,-1.537724249070895,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.4120003887625101],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.37999999999948,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197366,-1.3048341218437385,-1.5707963267948968,-0.4120003887625115],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.399999999999505,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.41999999999953,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.4120003887625105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.439999999999554,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.4120003887625111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.459999999999578,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437378,-1.5707963267948966,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.479999999999603,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.271762044119736,-1.3048341218437371,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.499999999999627,"joint_targets_rad":[-1.982796715557408,-1.5377242490708956,1.271762044119736,-1.3048341218437374,-1.5707963267948966,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.51999999999965,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437374,-1.5707963267948968,-0.4120003887625111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.539999999999676,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197368,-1.3048341218437378,-1.5707963267948966,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.5599999999997,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197368,-1.3048341218437376,-1.5707963267948968,-0.41200038876251044],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.579999999999725,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.271762044119736,-1.3048341218437374,-1.5707963267948968,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.59999999999975,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.619999999999774,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.639999999999798,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197368,-1.3048341218437383,-1.5707963267948966,-0.4120003887625104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.659999999999823,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197357,-1.3048341218437371,-1.570796326794897,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.679999999999847,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.69999999999987,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948968,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.719999999999896,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.41200038876251116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.73999999999992,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197357,-1.304834121843737,-1.5707963267948968,-0.41200038876251177],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.759999999999945,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.41200038876251044],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.77999999999997,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.41200038876251144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.799999999999994,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.271762044119736,-1.3048341218437371,-1.5707963267948968,-0.4120003887625114],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.820000000000018,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.271762044119737,-1.3048341218437378,-1.5707963267948966,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.840000000000042,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437374,-1.5707963267948968,-0.4120003887625112],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.860000000000067,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948968,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.88000000000009,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.271762044119737,-1.304834121843738,-1.5707963267948963,-0.41200038876251055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.900000000000116,"joint_targets_rad":[-1.9827967155574076,-1.537724249070896,1.2717620441197366,-1.3048341218437376,-1.5707963267948966,-0.41200038876251127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.92000000000014,"joint_targets_rad":[-1.9827967155574076,-1.537724249070896,1.271762044119737,-1.3048341218437374,-1.5707963267948968,-0.41200038876251105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.940000000000165,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197373,-1.3048341218437378,-1.570796326794897,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.96000000000019,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437374,-1.5707963267948968,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.980000000000214,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.271762044119736,-1.304834121843737,-1.5707963267948966,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.000000000000238,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437374,-1.5707963267948966,-0.4120003887625103],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.020000000000262,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.040000000000287,"joint_targets_rad":[-1.9827967155574078,-1.537724249070896,1.271762044119737,-1.3048341218437378,-1.5707963267948966,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.06000000000031,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948968,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.080000000000336,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948968,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.10000000000036,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197368,-1.304834121843738,-1.5707963267948968,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.120000000000385,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948968,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.14000000000041,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.160000000000434,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948963,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.180000000000458,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.41200038876251116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.200000000000482,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.412000388762511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.220000000000507,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197357,-1.3048341218437371,-1.5707963267948968,-0.4120003887625102],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.24000000000053,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.260000000000556,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948968,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.28000000000058,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708953,1.2717620441197361,-1.3048341218437376,-1.5707963267948966,-0.41200038876251144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.300000000000605,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.32000000000063,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.41200038876251105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.340000000000654,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.41200038876251105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.360000000000678,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197361,-1.3048341218437378,-1.5707963267948968,-0.41200038876251066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.380000000000702,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.400000000000727,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197368,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.42000000000075,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.440000000000776,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.4600000000008,"joint_targets_rad":[-1.9827967155574076,-1.537724249070895,1.2717620441197361,-1.3048341218437376,-1.5707963267948966,-0.41200038876251033],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.480000000000825,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.50000000000085,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948966,-0.4120003887625104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.520000000000874,"joint_targets_rad":[-1.982796715557408,-1.5377242490708956,1.2717620441197361,-1.3048341218437371,-1.5707963267948968,-0.41200038876251094],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.540000000000898,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197361,-1.3048341218437376,-1.5707963267948968,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.560000000000922,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625115],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.580000000000947,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197364,-1.3048341218437378,-1.5707963267948963,-0.41200038876251077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.60000000000097,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.620000000000996,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.64000000000102,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708953,1.2717620441197357,-1.3048341218437371,-1.5707963267948968,-0.4120003887625111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.660000000001045,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197357,-1.304834121843737,-1.5707963267948968,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.68000000000107,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.4120003887625116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.700000000001094,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625115],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.720000000001118,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.740000000001142,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.41200038876251127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.760000000001167,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.271762044119736,-1.3048341218437374,-1.5707963267948966,-0.4120003887625117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.78000000000119,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197375,-1.3048341218437383,-1.5707963267948963,-0.41200038876251055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.800000000001216,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.82000000000124,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.840000000001265,"joint_targets_rad":[-1.9827967155574076,-1.5377242490708956,1.271762044119737,-1.304834121843738,-1.5707963267948968,-0.41200038876251055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.86000000000129,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708953,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.4120003887625108],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.880000000001314,"joint_targets_rad":[-1.9827967155574076,-1.537724249070896,1.2717620441197373,-1.3048341218437383,-1.5707963267948968,-0.41200038876251055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.900000000001338,"joint_targets_rad":[-1.9827967155574073,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.920000000001362,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.940000000001387,"joint_targets_rad":[-1.9827967155574078,-1.537724249070895,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.41200038876251044],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.96000000000141,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948963,-0.4120003887625106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.980000000001436,"joint_targets_rad":[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.4120003887625105],"gripper_0_255":0.0,"phase":"replay_open_jaw"}],"arm_tape":[[-1.5659834323004498,-1.567925489606039,1.5225878225330225,-1.5256882747695169,-1.5707656071911813,0.004801830240783159],[-1.5656534490871443,-1.567832085219888,1.5216984895189944,-1.524889092879983,-1.5707634637812156,0.00513199551328589],[-1.5652227482930015,-1.5675454663509036,1.51819417419275,-1.5216685845373223,-1.5707609984372397,0.005562739941335935],[-1.5647789619762846,-1.5670613417065398,1.5134521713382356,-1.5174118938028291,-1.5707611261094654,0.006006540692108629],[-1.5643267903391556,-1.566560219684762,1.5086401758169077,-1.5131025541104115,-1.5707614560971208,0.00645870635925736],[-1.5638743050696227,-1.5660413664934554,1.5038061629308375,-1.5087888923094583,-1.5707617538361707,0.006911184997025196],[-1.56342208395052,-1.5655047409077067,1.4989531811101364,-1.5044739806563312,-1.5707620091197936,0.007363400313223424],[-1.56297016127348,-1.5649503294600149,1.4940813011817058,-1.5001579084074061,-1.5707622249006563,0.007815318097702022],[-1.5625185376253912,-1.5643781178342635,1.489190402186485,-1.4958405747522658,-1.5707624046535673,0.008266937743012414],[-1.562067211941723,-1.5637880887345317,1.4842803475275337,-1.4915218657748186,-1.5707625515916983,0.008718260278806012],[-1.5616161835342208,-1.5631802218222766,1.4793509962993923,-1.4872016658093883,-1.57076266863988,0.009169286352644745],[-1.5611654521984235,-1.5625544937427969,1.4744022039539064,-1.4828798581218867,-1.5707627584552208,0.009620016125205222],[-1.56071501820067,-1.5619108781467026,1.4694338222681422,-1.4785563248989548,-1.5707628234493327,0.010070449285076038],[-1.5602648822607112,-1.5612493457009529,1.4644456992604646,-1.4742309471919801,-1.5707628658092094,0.01052058506748171],[-1.5598150455374218,-1.5605698640890968,1.4594376790966714,-1.4699036048583174,-1.5707628875166022,0.010970422269549255],[-1.5593655096179257,-1.5598723980005047,1.4544096019884638,-1.4655741765025287,-1.5707628903659279,0.011419959261874654],[-1.5589162765103222,-1.559156909108494,1.4493613040839406,-1.461242539417738,-1.5707628759807757,0.011869193996279847],[-1.5584673486399114,-1.5584233560370409,1.4442926173494424,-1.4569085695270416,-1.5707628458290888,0.01231812400991002],[-1.5580187288489578,-1.5576716943156914,1.4392033694419757,-1.4525721413248323,-1.570762801237093,0.012766746425656596],[-1.557570420400179,-1.5569018763222517,1.434093383571391,-1.4482331278178853,-1.570762743402057,0.01321505794877369],[-1.5571224269840276,-1.5561138512125676,1.428962478351247,-1.4438914004660377,-1.5707626734039588,0.013663054859629969],[-1.5566747527298677,-1.5553075648365176,1.4238104676370984,-1.439546829122274,-1.5707625922161421,0.014110733002510686],[-1.5562274022215716,-1.5544829596393328,1.4186371603509085,-1.4351992819719825,-1.5707625007150319,0.014558087769976724],[-1.5557803805176376,-1.5536399745467968,1.4134423602897808,-1.430848625471191,-1.5707623996889855,0.015005114082679016],[-1.5553336931764024,-1.5527785448328035,1.408225865917086,-1.4264947242835233,-1.570762289846348,0.015451806364063651],[-1.5548873462868689,-1.5518986019672534,1.40298747013358,-1.4221374412156347,-1.5707621718227724,0.015898158509464168],[-1.5544413465060214,-1.551000073441963,1.3977269600257394,-1.4177766371507956,-1.5707620461878697,0.01634416384870702],[-1.55399570110309,-1.5500828825713484,1.3924441165877515,-1.4134121709804277,-1.5707619134512425,0.016789815101777877],[-1.5535504180122701,-1.5491469482644389,1.3871387144131822,-1.4090438995331518,-1.5707617740679547,0.017235104326048783],[-1.5531055058950114,-1.5481921847635367,1.381810521351215,-1.4046716775010384,-1.5707616284434862,0.017680022853943888],[-1.552660974213669,-1.5472185013439665,1.3764592981213608,-1.4002953573626074,-1.5707614769382188,0.018124561219280386],[-1.5522168333183373,-1.546225801967754,1.3710847978789638,-1.3959147893021577,-1.5707613198714871,0.018568709070436937],[-1.5517730945500996,-1.5452139848828146,1.3656867657223168,-1.3915298211247475,-1.5707611575252425,0.019012455067146838],[-1.5513297703630742,-1.5441829421561026,1.360264938129263,-1.387140298166348,-1.570760990147352,0.019455786758529988],[-1.550886874470248,-1.5431325591271694,1.3548190423087005,-1.3827460631982278,-1.5707608179545738,0.019898690437374245],[-1.5504444220181286,-1.5420627137640313,1.3493487954479222,-1.378346956324714,-1.5707606411352282,0.020341150965661765],[-1.5500024297972261,-1.5409732758982708,1.3438539038314015,-1.373942814873116,-1.5707604598515923,0.02078315156431925],[-1.5495609164974289,-1.5398641063092342,1.3383340617993167,-1.3695334732743905,-1.5707602742420417,0.02122467355815946],[-1.5491199030205052,-1.5387350556177226,1.3327889505041672,-1.3651187629326522,-1.5707600844229528,0.021665696063794482],[-1.5486794128651766,-1.5375859629358335,1.327218236409661,-1.3606985120812596,-1.5707598904903852,0.022106195605107112],[-1.5482394726072641,-1.5364166542016742,1.3216215694570952,-1.3562725456222335,-1.5707596925215512,0.022546145633809418],[-1.547800112504399,-1.5352269401002916,1.315998580796196,-1.3518406849449636,-1.5707594905760887,0.022985515925664706],[-1.5473613672669175,-1.5340166134334334,1.3103488799369685,-1.34740274771863,-1.5707592846971272,0.023424271810810183],[-1.5469232770546992,-1.5327854457432695,1.304672051119277,-1.3429585476505674,-1.570759074912156,0.023862373178549078],[-1.5464858887858617,-1.5315331829072312,1.2989676486055501,-1.3385078941997846,-1.5707588612336716,0.02429977317084188],[-1.5460492578854579,-1.5302595392850882,1.2932351904606625,-1.3340505922299772,-1.570758643659587,0.02473641643660455],[-1.5456134506690509,-1.5289641897814346,1.2874741501569302,-1.3295864415789793,-1.5707584221733468,0.025172236752312872],[-1.5451785476666051,-1.5276467588274105,1.281683944969576,-1.3251152365095766,-1.5707581967436832,0.025607153704044587],[-1.5447446483816323,-1.526306804671288,1.2758639194918053,-1.3206367649867903,-1.5707579673238714,0.026041067937028026],[-1.544546666485252,-1.5255686854371355,1.2730389338162462,-1.3185369453770643,-1.5707597033608396,0.02623960514406331],[-1.5445449980675976,-1.5253687380365555,1.2727632143210188,-1.3184370041475284,-1.5707631387864038,0.026242228272914225],[-1.5445432751393517,-1.525200718273305,1.2725298689001923,-1.318349534994157,-1.570766365189729,0.026244815901687896],[-1.5445416035864405,-1.5250607054615375,1.272333827871218,-1.3182732644323722,-1.5707692516291079,0.026247269547323746],[-1.5445400021796631,-1.5249439950482229,1.2721690947766988,-1.318206750034559,-1.5707718301164106,0.02624957852913347],[-1.5445384774046658,-1.5248465949995973,1.2720305427160834,-1.3181487186419822,-1.5707741398557988,0.026251743551129626],[-1.5445370327357937,-1.5247651979290369,1.2719138771633902,-1.3180980537961962,-1.5707762147684625,0.02625376760113004],[-1.544535669896787,-1.5246970716696229,1.2718155123139416,-1.318053781005648,-1.5707780833599492,0.026255654778887017],[-1.5445343892327927,-1.5246399595561564,1.2717324566195152,-1.3180150527494425,-1.5707797696679997,0.026257409993353135],[-1.5459847247058387,-1.5394851320142713,1.3518637637330992,-1.3828962785116783,-1.5708222964592427,0.02481082677994315],[-1.5460000984622218,-1.5393310749051972,1.3502412955889618,-1.3814338759151363,-1.5708220524002738,0.02479555815298449],[-1.5459776763520923,-1.5392588062525063,1.350467332110075,-1.381744836231892,-1.570821382356136,0.024817970525240093],[-1.545936495589831,-1.5396374834280278,1.3539555348318995,-1.384861035679501,-1.570820947907712,0.0248591163078315],[-1.5458975296191833,-1.5403772007116872,1.359040349170497,-1.3892054883068712,-1.5708208487638986,0.024898067042556666],[-1.5458708695340313,-1.5410940433735774,1.3641834024418242,-1.3936306587960985,-1.570820764235764,0.02492474285143366],[-1.545845290320321,-1.5417920661261655,1.3693109071384975,-1.3980592785224935,-1.5708206713966735,0.024950337883112367],[-1.5458197664537532,-1.5424713469734543,1.374415443543003,-1.4024838804718622,-1.570820568835519,0.02497587507590933],[-1.5457942122851345,-1.5431319743821972,1.3794966384287703,-1.4069039847092408,-1.5708204573327764,0.025001440289963886],[-1.5457686288643688,-1.5437740253561838,1.3845547281003614,-1.4113197299946372,-1.5708203378293384,0.025027032863506153],[-1.5457430242824013,-1.5443975721052723,1.3895899900238475,-1.4157313027696765,-1.5708202112226595,0.025052645044711653],[-1.5457174065381143,-1.545002682688039,1.39460269193841,-1.4201388857968014,-1.570820078345895,0.025078269115960436],[-1.5456917829685624,-1.5455894212300019,1.3995930883314862,-1.4245426542550685,-1.5708199399665448,0.025103897972226688],[-1.5456661602668251,-1.546157848097166,1.4045614210925408,-1.4289427760471287,-1.5708197967880513,0.025129525111749797],[-1.545640544545834,-1.5467080200627186,1.4095079204538101,-1.433339412415006,-1.570819649452417,0.025155144579342422],[-1.5456149414001743,-1.5472399904680465,1.4144328058747322,-1.437732718521029,-1.5708194985433954,0.025180750910481903],[-1.5455893559622444,-1.5477538093765315,1.4193362868459158,-1.4421228439699365,-1.5708193445900118,0.025206339079998155],[-1.545563792953059,-1.5482495237188783,1.4242185636167355,-1.4465099332760494,-1.570819188070252,0.025231904455278422],[-1.5455382567282496,-1.5487271774292182,1.4290798278528571,-1.450894126281271,-1.5708190294147892,0.02525744275355446],[-1.5455127513197997,-1.5491868115715661,1.4339202632297705,-1.4552755585292194,-1.5708188690106606,0.025282950002888976],[-1.5454872804739828,-1.5496284644565113,1.4387400459680597,-1.4596543616003017,-1.5708187072048312,0.02530842250648591],[-1.5454618476859423,-1.5500521717481697,1.4435393453156236,-1.4640306634119358,-1.5708185443075995,0.025333856809954456],[-1.54543645623129,-1.5504579665615812,1.4483183239817106,-1.4684045884877648,-1.570818380595823,0.02535924967124898],[-1.5454111091950804,-1.5508458795507845,1.4530771385271124,-1.4727762581991888,-1.5708182163159383,0.025384598032952538],[-1.545385809498481,-1.5512159389878557,1.4578159397145274,-1.47714579098225,-1.5708180516867791,0.025409898996653284],[-1.5453605599234252,-1.5515681708332036,1.462534872822656,-1.4815133025325202,-1.5708178869021834,0.025435149799158733],[-1.5453353631355298,-1.5519025987973838,1.4672340779272321,-1.4858789059803688,-1.570817722133398,0.025460347790291108],[-1.5453102217055092,-1.5522192443946894,1.4719136901518632,-1.490242712048722,-1.5708175575312853,0.025485490412067664],[-1.5452851381293482,-1.5525181269887,1.4765738398911716,-1.494604829195177,-1.570817393228342,0.025510575179020313],[-1.5452601148474339,-1.5527992638299297,1.4812146530084491,-1.4989653637401361,-1.5708172293405407,0.025535599659468004],[-1.5452351542628764,-1.553062670085625,1.4858362510097307,-1.5033244199824445,-1.5708170659690055,0.02556056145754276],[-1.54521025875923,-1.5533083588616998,1.4904387511958745,-1.5076821003038103,-1.5708169032015327,0.025585458195743892],[-1.5451854307178152,-1.553536341216676,1.495022266794008,-1.512038505263214,-1.570816741113966,0.025610287497859485],[-1.545160672534861,-1.553746626167398,1.4995869070693706,-1.516393733682281,-1.5708165797714442,0.025635046972014967],[-1.545135986638688,-1.5539392206861578,1.5041327774183462,-1.5207478827225624,-1.5708164192295224,0.025659734193661292],[-1.5451113755071624,-1.5541141296887304,1.5086599794431932,-1.5251010479555096,-1.5708162595351849,0.025684346688263204],[-1.545086841685662,-1.5542713560126211,1.5131686110086806,-1.5294533234258552,-1.570816100727756,0.025708881913448868],[-1.545062387805839,-1.5544109003846547,1.5176587662805292,-1.5338048017090138,-1.570815942839716,0.02573333724035545],[-1.5450380170188205,-1.5545327425416846,1.522130461649932,-1.5381555189411884,-1.570815785891456,0.025757709521900655],[-1.5450137322342223,-1.5546368646915874,1.5265837197757637,-1.5425055151046625,-1.570815629899621,0.025781995851455596],[-1.544989536201673,-1.5547232645136058,1.5310186259945304,-1.5468548772408701,-1.5708154748827472,0.025806193481266868],[-1.5449654321380921,-1.554791937285629,1.5354352637233029,-1.551203692940875,-1.570815320855912,0.02583029919710853],[-1.544941423483693,-1.554842876021864,1.5398337129209656,-1.5555520486749748,-1.5708151678301958,0.02585430956167264],[-1.5449175139152753,-1.5548760713695613,1.5442140498612453,-1.5599000296627326,-1.570815015813048,0.025878220901294654],[-1.5448937073812774,-1.5548915114830253,1.548576347030475,-1.5642477198902398,-1.5708148648086788,0.025902029270969833],[-1.544870008143563,-1.5548891818699642,1.5529206730044642,-1.568595202134814,-1.5708147148184104,0.025925730412635684],[-1.5448464208259538,-1.5548690652047803,1.5572470922889443,-1.5729425579870393,-1.5708145658409842,0.02594931970672537],[-1.544822950471005,-1.5548311411016873,1.5615556651157236,-1.5772898678693388,-1.5708144178728314,0.02597279211548257],[-1.544799602607065,-1.554775385838518,1.565846447185307,-1.581637211050944,-1.5708142709083002,0.02599614211600571],[-1.544776383328243,-1.554701772019363,1.570119489343902,-1.5859846656590288,-1.5708141249398535,0.026019363620408974],[-1.5447532993907191,-1.5546102681605483,1.5743748371790183,-1.5903323086856842,-1.5708139799582246,0.026042449879658387],[-1.5447303583299197,-1.5545008381794503,1.5786125305126053,-1.5946802159902096,-1.5708138359525392,0.026065393366582777],[-1.5447075686046208,-1.5543734407587135,1.5828326027635065,-1.5990284622959545,-1.5708136929104028,0.026088185631997142],[-1.5446849397761997,-1.554228028548654,1.587035080140876,-1.603377121180647,-1.5708135508179424,0.02611081712573757],[-1.5446624827343634,-1.554064547156635,1.5912199806156782,-1.607726265058651,-1.5708134096598045,0.0261332769713003],[-1.5446402099852328,-1.5538829338517501,1.5953873125962432,-1.612075965152951,-1.5708132694190988,0.026155552678231074],[-1.5446181360244593,-1.5536831158827389,1.5995370732023386,-1.6164262914536702,-1.5708131300772714,0.026177629769634555],[-1.5445962778284132,-1.5534650082607528,1.6036692459843085,-1.6207773126584366,-1.570812991613891,0.02619949129182377],[-1.5445746555127493,-1.553228510786356,1.6077837978590308,-1.6251290960875775,-1.5708128540063133,0.02622111715689894],[-1.5445532932338117,-1.5529735039842274,1.6118806749144614,-1.6294817075633978,-1.5708127172291773,0.026242483242934444],[-1.5445322204519079,-1.5526998434171138,1.6159597965358652,-1.6338352112366155,-1.5708125812536546,0.026263560132984816],[-1.5445114737505978,-1.5524073515209647,1.6200210469655636,-1.6381896693323856,-1.5708124460463275,0.026284311299128324],[-1.5445042797347206,-1.5521879180482994,1.6215500451982838,-1.639951244527422,-1.5708114107672926,0.02629154029214759],[-1.544505828613567,-1.5520455243399547,1.6214224857102688,-1.6399862821999405,-1.57080987210341,0.026290042764457837],[-1.5445072121877441,-1.551929276404166,1.62131995509749,-1.6400181947759203,-1.5708084950455525,0.026288705135670193],[-1.5445084463169603,-1.5518355229963094,1.6212387581011856,-1.640047128305028,-1.5708072679967569,0.026287512306691182],[-1.544509548552876,-1.5517600942169143,1.6211747486321906,-1.6400732987213313,-1.5708061732135559,0.026286447226303626],[-1.544510534355125,-1.5516995190953595,1.6211245087764405,-1.6400969278520523,-1.5708051948544102,0.0262854948593538],[-1.5445114171517154,-1.5516509696515404,1.6210852806517324,-1.640118235529536,-1.5708043192239955,0.026284642153469324],[-1.5445122086252585,-1.5516121472778255,1.621054843893433,-1.6401374332169327,-1.5708035344739968,0.026283877761093557],[-1.5445129189707252,-1.5515811847961616,1.6210314118418572,-1.640154720184698,-1.57080283031714,0.026283191787157576],[-1.5445135571116912,-1.551556566236748,1.6210135475960301,-1.6401702815295092,-1.570802197788733,0.02628257557716834],[-1.5445141308811847,-1.5515370614456818,1.6210000963672884,-1.6401842874208163,-1.570801629049476,0.02628202153997433],[-1.5445146471733904,-1.5515216728064094,1.6209901309415427,-1.6401968931394248,-1.5708011172218883,0.026281522999099236],[-1.544515112071388,-1.5515095918360362,1.6209829076789872,-1.640208239607989,-1.5708006562540253,0.02628107406761517],[-1.5445155309551157,-1.5515001638305848,1.6209778309948153,-1.6402184542090656,-1.5708002408054313,0.026280669542431485],[-1.544515908592966,-1.5514928590711055,1.6209744246738733,-1.6402276517532872,-1.5707998661512752,0.026280304814664625],[-1.5445162492197861,-1.5514872493775917,1.6209723086975905,-1.6402359355068266,-1.5707995281014167,0.026279975793375404],[-1.5445165566035404,-1.5514829890217057,1.62097118052082,-1.6402433982195885,-1.5707992229317769,0.026279678840441547],[-1.544516834077745,-1.5514798104642458,1.620970811680237,-1.6402501248591494,-1.5707989474012096,0.02627941074808161],[-1.5445170846728251,-1.5514774777709088,1.6209710003045077,-1.640256188657113,-1.5707986984698477,0.026279168582629294],[-1.5445173110691535,-1.551475805543601,1.6209715914720226,-1.6402616556435607,-1.5707984734660412,0.026278949756166955],[-1.5445175156646294,-1.551474650148997,1.620972468919767,-1.6402665858560892,-1.5707982700311778,0.02627875195732584],[-1.5445177006059938,-1.5514738968320025,1.6209735422735967,-1.6402710331887846,-1.5707980860541235,0.02627857311765782],[-1.5445178678196076,-1.5514734537914479,1.6209747414349103,-1.6402750459728335,-1.570797919638951,0.026278411381270607],[-1.5445180190359111,-1.5514732477624595,1.620976012459546,-1.6402786675584085,-1.5707977690811015,0.02627826508111089],[-1.5445181558106542,-1.551473220459891,1.6209773142689479,-1.6402819368422277,-1.570797632846823,0.026278132718437056],[-1.5445182795435788,-1.5514733256900597,1.6209786160011275,-1.6402848887399526,-1.5707975095550681,0.026278012944775025],[-1.5445183914949236,-1.5514735270040085,1.6209798948766447,-1.640287554607937,-1.5707973979614827,0.026277904545987815],[-1.5445184928000268,-1.5514737957919886,1.620981134481672,-1.6402899626192948,-1.570797296944218,0.0262778064281868],[-1.5445185844822782,-1.5514741097376064,1.6209823233889553,-1.6402921380990219,-1.5707972054913324,0.02627771760524737],[-1.5445186674646263,-1.551474451565,1.6209834540523747,-1.6402941038225676,-1.570797122689585,0.026277637187717286],[-1.54451874257982,-1.5514748080246537,1.6209845219228542,-1.6402958802818466,-1.5707970477144488,0.026277564372955187],[-1.5445188105795333,-1.5514751690734125,1.620985524743194,-1.640297485922307,-1.5707969798212056,0.026277498436343385],[-1.5445188721425156,-1.5514755272124352,1.620986461987357,-1.6402989373543027,-1.5707969183369825,0.026277438723443975],[-1.5445189278818712,-1.551475876953497,1.6209873344162278,-1.6403002495416361,-1.5707968626536306,0.026277384642992608],[-1.544518978351578,-1.5514762143894874,1.6209881437271456,-1.6403014359698747,-1.570796812221343,0.026277335660633012],[-1.544519023712516,-1.5514765435872035,1.620988894532022,-1.640302501507862,-1.5707967668146845,0.0262772916383078],[-1.5445190634408494,-1.5514769762487062,1.6209897009567822,-1.640303501430131,-1.5707967305290103,0.026277253169531552],[-1.5445190978418606,-1.551477356811719,1.6209904192659714,-1.6403044044960262,-1.5707967017967213,0.02627722051683427],[-1.5445191313373225,-1.5514776793950613,1.6209910438671604,-1.6403052057416176,-1.5707966690767374,0.0262771882474913],[-1.544519161443846,-1.5514779848643567,1.6209916193733402,-1.6403059320691438,-1.5707966395072401,0.02627716014738613],[-1.5445191888237764,-1.5514782671882228,1.6209921435720616,-1.6403065883379748,-1.570796612748059,0.026277134153488195],[-1.5445383798845895,-1.5545491001602751,1.5771132473648717,-1.593575872842806,-1.5707807903625388,0.026257985376521974],[-1.5445365117999712,-1.5546548363813142,1.5760749414326185,-1.5924305769895053,-1.570780867724084,0.026259844683051106],[-1.5445410193867768,-1.5547235736448761,1.5725282468883732,-1.5888141544953387,-1.5707808879844816,0.026255344257437523],[-1.5445463124932575,-1.5548048076192484,1.56831013167983,-1.5845152752183878,-1.5707807739016983,0.02625006002224543],[-1.5445464456405504,-1.5548683583584255,1.5640455182016741,-1.5801878151284676,-1.5707806313178625,0.02624992329050489],[-1.544546283313433,-1.554914289738048,1.5597616138651549,-1.5758586971081088,-1.5707804876321412,0.026250081645244807],[-1.5445461147116675,-1.5549425863164938,1.5554600818598796,-1.5715295876666506,-1.5707803444017956,0.026250246625991944],[-1.5445459564762614,-1.5549532444411662,1.5511409489865777,-1.5672005172785617,-1.5707802015723349,0.02625040160203224],[-1.5445458091785282,-1.554946259775848,1.5468041369325363,-1.5628714126943948,-1.570780059006564,0.026250545971581433],[-1.544545672624179,-1.5549216268276782,1.5424495590697007,-1.558542193493376,-1.5707799165749383,0.026250679898931196],[-1.544545546568088,-1.5548793388216893,1.5380771262928563,-1.5542127780086579,-1.5707797741585992,0.026250803601575362],[-1.5445454307680897,-1.5548193876710354,1.533686747241259,-1.5498830835820712,-1.5707796316484222,0.026250917296387042],[-1.5445453249915948,-1.5547417639657053,1.5292783282878954,-1.5455530265694577,-1.5707794889439615,0.02625102119284689],[-1.5445452290146742,-1.5546464569557943,1.5248517735035152,-1.541222522325906,-1.5707793459524777,0.026251115493800343],[-1.544545142620693,-1.5545334545311897,1.520406984609251,-1.536891485182804,-1.5707792025880625,0.026251200396662417],[-1.5445450655990374,-1.5544027431991907,1.5159438609274274,-1.5325598284247681,-1.5707790587708583,0.026251276094540043],[-1.5445449977439234,-1.5542543080599547,1.5114622993308209,-1.5282274642668505,-1.5707789144263626,0.026251342777286326],[-1.544544938853278,-1.5540881327796905,1.5069621941897091,-1.5238943038314794,-1.5707787694848048,0.02625140063248443],[-1.5445448887238884,-1.5539041998241125,1.5024434381741447,-1.5195602577171956,-1.5707786238808221,0.026251449850170458],[-1.5445448464933105,-1.5537025361893326,1.4979060717360355,-1.5152253392476234,-1.5707784775943756,0.02625149127982534],[-1.5445448126650791,-1.5534831200317616,1.493349983803446,-1.5108894595781348,-1.5707783305656748,0.026251524408828237],[-1.5445447870634237,-1.5532459289017146,1.4887750590431275,-1.5065525262139956,-1.5707781827351994,0.026251549403121084],[-1.5445447694762198,-1.5529909386996847,1.4841811790448922,-1.5022144452187076,-1.570778034046007,0.02625156646580797],[-1.5445447596884496,-1.5527181236486174,1.4795682225142752,-1.4978751214348225,-1.5707778844435831,0.02625157580371529],[-1.5445447574836062,-1.5524274562486826,1.4749360652131454,-1.4935344584716779,-1.5707777338755156,0.02625157762590967],[-1.5445447626428017,-1.5521189072295904,1.4702845798839124,-1.4891923586791118,-1.5707775822911818,0.026251572144529427],[-1.544544774943756,-1.5517924454996175,1.465613636168901,-1.4848487231195031,-1.5707774296414694,0.026251559575726266],[-1.5445447941597867,-1.551448038091106,1.4609231005254573,-1.4805034515389288,-1.570777275878515,0.026251540140617407],[-1.5445448200587808,-1.551085650102188,1.4562128361365188,-1.476156442337449,-1.5707771209554666,0.026251514066265302],[-1.5445448524021506,-1.5507052446344332,1.4514827028162816,-1.4718075925384555,-1.570776964826262,0.02625148158666444],[-1.5445448909437636,-1.5503067827260681,1.4467325569105134,-1.4674567977570074,-1.570776807445429,0.026251442943775342],[-1.5445449354288305,-1.5498902232803817,1.4419622511910597,-1.463103952167088,-1.5707766487678905,0.026251398388589035],[-1.5445449855927473,-1.5494555229888503,1.4371716347439918,-1.4587489484677152,-1.5707764887487907,0.026251348182250365],[-1.5445450411598691,-1.5490026362484597,1.4323605528507781,-1.4543916778478174,-1.5707763273433253,0.02625129259725153],[-1.5445451018422227,-1.5485315150726082,1.4275288468617904,-1.4500320299498126,-1.570776164506582,0.026251231918685017],[-1.544545167338115,-1.5480421089948906,1.422676354061323,-1.4456698928317788,-1.5707760001933886,0.026251166445607665],[-1.5445452373306485,-1.5475343649649391,1.4178029075232326,-1.4413051529281484,-1.5707758343581655,0.026251096492500427],[-1.544545311486109,-1.5470082272353785,1.4129083359561225,-1.4369376950088188,-1.5707756669547814,0.026251022390854688],[-1.544545389452212,-1.5464636372387754,1.4079924635368428,-1.4325674021365498,-1.5707754979364132,0.02625094449090466],[-1.544545470856183,-1.5459005334533071,1.4030551097309083,-1.4281941556225755,-1.5707753272554044,0.02625086316352669],[-1.5445455553026453,-1.5453188512556013,1.398096089098139,-1.4238178349802395,-1.5707751548631232,0.026250778802330305],[-1.544545642371284,-1.5447185227589848,1.3931152110816079,-1.4194383178765633,-1.5707749807098206,0.02625069182598078],[-1.5445457316142563,-1.544099476634996,1.3881122797775838,-1.4150554800815445,-1.5707748047444792,0.026250602680767735],[-1.5445458225532918,-1.543461637915655,1.3830870936837636,-1.4106691954150279,-1.570774626914662,0.02625051184349042],[-1.544545914676453,-1.5428049277734692,1.3780394454225446,-1.4062793356909156,-1.5707744471663463,0.026250419824685272],[-1.5445460074344826,-1.5421292632755608,1.3729691214354887,-1.401885770658506,-1.5707742654437518,0.026250327172256345],[-1.544546100236676,-1.5414345571075243,1.367875901644279,-1.397488367940656,-1.5707740816891518,0.02625023447559843],[-1.544546192446194,-1.5407207172617183,1.362759559072543,-1.3930869929684704,-1.5707738958426691,0.026250142370262335],[-1.5445462833747183,-1.5399876466834626,1.3576198594216176,-1.3886815089121332,-1.570773707842047,0.026250051543287536],[-1.5445463722763253,-1.5392352428671328,1.3524565605917793,-1.3842717766074355,-1.570773517622398,0.026249962739315017],[-1.5445464583404385,-1.5384633973922102,1.3472694121384254,-1.379857654477472,-1.5707733251159164,0.02624987676761719],[-1.544546540683673,-1.537671995386843,1.342058154650108,-1.3754389984488788,-1.5707731302515522,0.026249794510238535],[-1.5445466183403571,-1.5368609149032413,1.3368225190318948,-1.3710156618618183,-1.5707729329546318,0.026249716931454652],[-1.5445466902514529,-1.5360300261849615,1.3315622256731157,-1.3665874953727772,-1.5707727331464194,0.026249645088831826],[-1.5445467552515375,-1.5351791908004577,1.3262769834725927,-1.362154346848974,-1.570772530743597,0.02624958014622549],[-1.5445468120534085,-1.5343082606096743,1.3209664886865393,-1.3577160612529044,-1.5707723256576447,0.026249523389145206],[-1.5445468592297764,-1.5334170765200528,1.3156304235534702,-1.3532724805151102,-1.5707721177940932,0.026249476243036633],[-1.5445468951913313,-1.532505466974052,1.3102684546355685,-1.3488234433927258,-1.570771907051615,0.02624944029517487],[-1.5445469181603046,-1.5315732460902456,1.3048802307951335,-1.3443687853105983,-1.5707716933208924,0.026249417321064925],[-1.5445469261383398,-1.530620211351609,1.299465380695113,-1.3399083381807209,-1.5707714764832108,0.026249409316517057],[-1.5445469168671524,-1.529646140693479,1.2940235096699588,-1.335441930194218,-1.5707712564086653,0.026249418536922673],[-1.544546887779956,-1.5286507887829766,1.2885541957500037,-1.3309693855779772,-1.5707710329538516,0.02624944754575346],[-1.5445468359409742,-1.527633882190349,1.2830569845277346,-1.3264905243048393,-1.5707708059588368,0.026249499274950877],[-1.5445467579694292,-1.526595113011822,1.2775313824081767,-1.3220051617414494,-1.5707705752431185,0.026249577100810616],[-1.5445466499432077,-1.5255341302805903,1.2719768475545012,-1.3175131082105171,-1.5707703406001183,0.02624968494016145],[-1.5445465072757318,-1.5244505281387872,1.2663927774630932,-1.313014168432377,-1.5707701017895104,0.026249827373287692],[-1.5445463245575572,-1.5233438291293624,1.2607784914668916,-1.3085081407914507,-1.5707698585262482,0.026250009802068427],[-1.5445455518499116,-1.5224604633078171,1.2565778474049496,-1.3051853769639996,-1.570770286254625,0.026250780731821053],[-1.5445433161980955,-1.5222511247652424,1.2562906131127074,-1.3050832606921983,-1.5707725141204167,0.026253010603280266],[-1.5445412477978937,-1.5220740378107838,1.2560460556346376,-1.3049935429023787,-1.5707745752269842,0.026255073389926834],[-1.5445393438454924,-1.5219264711034777,1.2558406618687963,-1.3049153781258511,-1.5707764732985323,0.02625697267683776],[-1.5445375937036514,-1.5218035290511318,1.2556681979529,-1.3048472749415054,-1.5707782185140573,0.026258719053426083],[-1.5445359872107074,-1.5217009920951616,1.2555232578021327,-1.3047879080582974,-1.5707798208550843,0.02626032258031985],[-1.544534514470413,-1.521615358012259,1.2554013083954028,-1.3047361171588105,-1.570781290087665,0.02626179305124583],[-1.5445331659101147,-1.521543733909118,1.2552985674068475,-1.3046908917908806,-1.5707826356796513,0.026263139942137297],[-1.544531932346266,-1.5214837312373681,1.2552118821371967,-1.3046513549982115,-1.5707838667287157,0.026264372347787734],[-1.5804794174735028,-1.5362118389323085,1.287421659100633,-1.3219740495902268,-1.570881015312828,-0.009600480547846606],[-1.581686478122671,-1.5362509403762874,1.2859969918219996,-1.3205118052754985,-1.570853398585556,-0.010808010259985554],[-1.5849289103424433,-1.5371013938150757,1.2864326563362218,-1.3200978095310925,-1.5708469765870157,-0.014050634101764953],[-1.588380527940611,-1.5379454692036627,1.2871440430432817,-1.3199656611284196,-1.5708506798911879,-0.017502091733907186],[-1.5918346552039462,-1.5387765509155944,1.2878753622309018,-1.3198662635449352,-1.5708551960669583,-0.02095606226324795],[-1.5952913014804464,-1.5395939749954237,1.2885948136293854,-1.3197686830237945,-1.570859401005661,-0.02441256194470391],[-1.5987498832127607,-1.5403976576037723,1.2892992383485615,-1.319669855229142,-1.5708632168493288,-0.02787100755685641],[-1.6022102722005258,-1.5411875633483074,1.289988324503719,-1.3195695002015533,-1.5708666682793366,-0.031331270076467854],[-1.605672371772107,-1.541963663712191,1.290662068379828,-1.3194676380035888,-1.570869788074121,-0.034793252013104285],[-1.609136088049376,-1.5427259312583546,1.291320495783134,-1.3193643175016174,-1.5708726070445167,-0.03825685875744534],[-1.612601328298259,-1.5434743394914963,1.2919636335011575,-1.3192595881356546,-1.5708751532390384,-0.041721996925989505],[-1.616068000563079,-1.5442088628546098,1.2925915070400964,-1.319153497612825,-1.5708774521105793,-0.0451885739866468],[-1.6195360135272545,-1.5449294766324113,1.2932041404524648,-1.31904609177454,-1.5708795267422,-0.04865649811114042],[-1.6230052764372351,-1.5456361568772226,1.293801556371574,-1.3189374146544772,-1.5708813980606529,-0.052125678091461666],[-1.6264756990372664,-1.5463288803527853,1.2943837761020593,-1.3188275085801462,-1.5708830850333662,-0.055596023268006965],[-1.6299471915105903,-1.547007624484816,1.2949508197079602,-1.3187164142703491,-1.5708846048483236,-0.05906744346493586],[-1.6334196644265526,-1.5476723673173298,1.2955027060909041,-1.3186041709215677,-1.57088597307794,-0.06253984893211238],[-1.6368930286931191,-1.548323087474555,1.2960394530610981,-1.3184908162856444,-1.570887203828317,-0.06601315029307803],[-1.6403671955144055,-1.5489597641276969,1.2965610774019336,-1.3183763867398581,-1.5708883098751183,-0.06948725849856488],[-1.6438420763528538,-1.5495823769658907,1.297067594928561,-1.3182609173499968,-1.570889302787183,-0.0729620847851414],[-1.6473175828956916,-1.550190906170823,1.2975590205409249,-1.3181444419270898,-1.5708901930389392,-0.07643754063854717],[-1.6507936270253374,-1.5507853323945537,1.2980353682717076,-1.3180269930783877,-1.5708909901125752,-0.07991353776135063],[-1.654270120793433,-1.5513656367401494,1.298496651329633,-1.31790860225315,-1.5708917025908757,-0.0833899880445525],[-1.6577469763982209,-1.5519318007447704,1.2989428821385063,-1.3177892997837128,-1.5708923382415358,-0.08686680354282106],[-1.6612241061649808,-1.5524838063649153,1.2993740723723577,-1.3176691149222781,-1.5708929040937112,-0.09034389645303192],[-1.6647014225292838,-1.553021635963556,1.2997902329870337,-1.3175480758738343,-1.5708934065075029,-0.09382117909585048],[-1.6681788380228224,-1.5535452722989218,1.3001913742485172,-1.3174262098255423,-1.570893851237001,-0.09729856390008158],[-1.671656265261599,-1.5540546985147425,1.3005775057582842,-1.3173035429729398,-1.5708942434874793,-0.10077596338953967],[-1.6751336169362778,-1.5545498981317567,1.300948636475937,-1.3171801005432366,-1.5708945879672624,-0.10425329017224334],[-1.6786108058045095,-1.5550308550403293,1.3013047747393345,-1.3170559068159686,-1.5708948889347583,-0.10773045693170509],[-1.682087744685065,-1.5554975534940463,1.3016459282824646,-1.3169309851412636,-1.5708951502410904,-0.11120737642014657],[-1.685564346453611,-1.5559499781041435,1.3019721042512151,-1.3168053579559265,-1.5708953753687427,-0.11468396145346382],[-1.6890405240399915,-1.556388113834673,1.3022833092172248,-1.3166790467975247,-1.5708955674665732,-0.11816012490777664],[-1.6925161904268764,-1.5568119459982979,1.3025795491899863,-1.3165520723166846,-1.5708957293815453,-0.12163577971743605],[-1.6959912586496584,-1.5572214602526362,1.3028608296273283,-1.3164244542877355,-1.5708958636874668,-0.12511083887434088],[-1.6994656417974818,-1.5576166425970648,1.3031271554444004,-1.316296211617845,-1.570895972711024,-0.12858521542845383],[-1.702939253015306,-1.5579974793699167,1.3033785310212842,-1.3161673623547887,-1.5708960585553575,-0.1320588224894027],[-1.706412005506896,-1.5583639572460077,1.3036149602093285,-1.316037923693467,-1.5708961231214151,-0.13553157322906312],[-1.7098838125386673,-1.558716063234432,1.3038364463362981,-1.315907911981269,-1.5708961681272788,-0.13900338088503045],[-1.713354587444291,-1.5590537846765753,1.3040429922104098,-1.3157773427223842,-1.5708961951256677,-0.14247415876489664],[-1.7168242436299952,-1.5593771092443018,1.3042346001233496,-1.3156462305811514,-1.5708962055197797,-0.14594382025125419],[-1.720292694580489,-1.5596860249382636,1.3044112718523009,-1.3155145893845097,-1.5708962005776288,-0.14941227880735697],[-1.7237598538654437,-1.559980520086298,1.3045730086610643,-1.3153824321236278,-1.5708961814450253,-0.1528794479833605],[-1.72722563514648,-1.5602605833418812,1.3047198113003131,-1.3152497709547806,-1.5708961491573168,-0.156345241423092],[-1.730689952184602,-1.5605262036825907,1.3048516800069994,-1.315116617199497,-1.5708961046500174,-0.1598095728712957],[-1.7341527188480292,-1.560777370408562,1.304968614502986,-1.3149829813440665,-1.5708960487684227,-0.163272356181287],[-1.7376138491203852,-1.5610140731408972,1.305070613992892,-1.3148488730384102,-1.5708959822763087,-0.16673350532298722],[-1.741073257109193,-1.56123630182001,1.3051576771612068,-1.3147143010943763,-1.5708959058638001,-0.17019293439127345],[-1.7445308570546412,-1.5614440467038668,1.3052298021686584,-1.3145792734834694,-1.5708958201544918,-0.1736505576146244],[-1.747986563338589,-1.5616372983661186,1.3052869866478758,-1.3144437973340612,-1.5708957257118858,-0.17710628936400408],[-1.7514402904937656,-1.561816047694083,1.3053292276983348,-1.3143078789280833,-1.570895623045216,-0.18056004416195856],[-1.7548919532131413,-1.56198028588656,1.3053565218805898,-1.3141715236972291,-1.570895512614714,-0.1840117366918979],[-1.758341466359435,-1.5621300044514679,1.3053688652097923,-1.3140347362186686,-1.5708953948363715,-0.18746128180751448],[-1.7617887449747316,-1.5622651952032656,1.3053662531484977,-1.3138975202103014,-1.570895270086247,-0.19090859454232717],[-1.7652337042901802,-1.562385850260141,1.3053486805987204,-1.3137598785255202,-1.5708951387043593,-0.1943535901193104],[-1.7686762597357553,-1.5624919620409563,1.3053161418932486,-1.3136218131475172,-1.5708950009982066,-0.19779618396059118],[-1.772116326950048,-1.5625835232619127,1.3052686307861816,-1.3134833251831028,-1.5708948572459491,-0.20123629169718893],[-1.7755538217900648,-1.5626605269329237,1.3052061404426638,-1.3133444148560458,-1.5708947076992843,-0.20467382917875965],[-1.7789886603410239,-1.5627229663536675,1.3051286634277834,-1.3132050814999112,-1.5708945525860456,-0.20810871248335047],[-1.782420758926109,-1.5627708351092988,1.3050361916946018,-1.3130653235503844,-1.5708943921125518,-0.21154085792710953],[-1.785850034116176,-1.5628041270657949,1.3049287165712629,-1.3129251385370542,-1.570894226465729,-0.2149701820739595],[-1.7892764027393853,-1.5628228363649075,1.3048062287471391,-1.3127845230746413,-1.5708940558150275,-0.2183966017451949],[-1.792699781890734,-1.5628269574186942,1.3046687182579522,-1.312643472853626,-1.570893880314154,-0.221820034028985],[-1.796120088941486,-1.5628164849036028,1.3045161744698073,-1.3125019826302478,-1.5708937001026342,-0.22524039628977863],[-1.7995372415484554,-1.5627914137540722,1.304348586062067,-1.3123600462158351,-1.5708935153072259,-0.22865760617756503],[-1.80295115766315,-1.5627517391556194,1.304165941008989,-1.312217656465419,-1.5708933260431928,-0.23207158163699498],[-1.8063617555407272,-1.5626974565373748,1.3039682265600387,-1.3120748052655784,-1.5708931324154565,-0.23548224091631936],[-1.809768953748769,-1.5626285615640267,1.3037554292187659,-1.3119314835214437,-1.5708929345196323,-0.2388895025761477],[-1.8131726711758323,-1.562545050127129,1.3035275347201487,-1.3117876811428126,-1.5708927324429653,-0.24229328549798632],[-1.8165728270397667,-1.5624469183357272,1.3032845280062766,-1.3116433870292878,-1.5708925262651752,-0.24569350889254227],[-1.8199693408957707,-1.5623341625062526,1.3030263932002315,-1.3114985890543513,-1.570892316059216,-0.24909009230776835],[-1.8233621326441596,-1.5622067791516177,1.3027531135780122,-1.311353274048284,-1.5708921018919613,-0.2524829556366262],[-1.8267511225378312,-1.562064764969459,1.3024646715383372,-1.3112074277798185,-1.5708918838248178,-0.2558720191245409],[-1.8301362311893883,-1.5619081168294529,1.3021610485701314,-1.3110610349364111,-1.5708916619142834,-0.2592572033765227],[-1.8335173795778925,-1.5617368317596236,1.301842225217481,-1.3109140791029934,-1.5708914362124404,-0.262638429363911],[-1.8368944890552257,-1.561550906931563,1.3015081810418179,-1.3107665427390476,-1.570891206767406,-0.26601561843073657],[-1.8402674813520137,-1.5613503396444528,1.301158894581072,-1.3106184071538487,-1.5708909736237284,-0.26938869229964446],[-1.8436362785830802,-1.5611351273077942,1.3007943433054763,-1.3104696524796666,-1.5708907368227487,-0.27275757307734555],[-1.847000803252392,-1.5609052674227084,1.3004145035696943,-1.3103202576427204,-1.570890496402917,-0.27612218325956256],[-1.8503609782574417,-1.5606607575616827,1.300019350560897,-1.3101702003316487,-1.5708902524000774,-0.27948244573541775],[-1.8537167268930255,-1.5604015953465953,1.2996088582423322,-1.3100194569632004,-1.5708900048477212,-0.2828382837912103],[-1.8570679728543549,-1.5601277784248506,1.299182999291918,-1.3098680026448553,-1.570889753777209,-0.28618962111353624],[-1.8604146402394435,-1.5598393044434198,1.298741745035302,-1.3097158111340095,-1.5708894992179654,-0.28953638179167773],[-1.86375665355069,-1.5595361710205644,1.2982850653727471,-1.3095628547933265,-1.5708892411976507,-0.292878490319198],[-1.8670939376955855,-1.5592183757149782,1.2978129286991276,-1.3094091045417864,-1.5708889797423091,-0.29621587159465096],[-1.8704264179864518,-1.5588859159920585,1.2973253018162134,-1.3092545298009282,-1.570888714876494,-0.2995484509213355],[-1.8737540201391014,-1.5585387891869582,1.296822149836296,-1.3090990984356536,-1.5708884466233741,-0.3028761540059626],[-1.8770766702703106,-1.5581769924640354,1.2963034360760621,-1.308942776688924,-1.570888175004819,-0.3061989069561433],[-1.8803942948939594,-1.5578005227722402,1.2957691219394631,-1.3087855291095272,-1.570887900041469,-0.3095166362765452],[-1.8837068209156886,-1.5574093767959316,1.2952191667881352,-1.308627318472012,-1.5708876217527858,-0.31282926886356366],[-1.8870141756258902,-1.5570035509004945,1.2946535277976596,-1.3084681056876877,-1.5708873401570853,-0.31613673199833525],[-1.8903162866908167,-1.5565830410720676,1.2940721597977094,-1.308307849705446,-1.5708870552715528,-0.3194389533378641],[-1.8936130821415669,-1.5561478428505418,1.2934750150937617,-1.308146507400929,-1.5708867671122426,-0.32273586090403655],[-1.8969044903606564,-1.5556979512548514,1.2928620432676639,-1.3079840334523123,-1.570886475694059,-0.3260273830702184],[-1.900190440065831,-1.5552333606994162,1.2922331909538614,-1.307820380200667,-1.5708861810307198,-0.3293134485450998],[-1.9034708602907204,-1.554754064900349,1.2915884015874572,-1.3076554974924672,-1.5708858831346955,-0.33259398635338394],[-1.9067456803618514,-1.554260056769819,1.2909276151196105,-1.307489332501373,-1.5708855820171328,-0.33586892581284367],[-1.9100148298714408,-1.5537513282966005,1.2902507676948152,-1.3073218295258144,-1.570885277687753,-0.3391381965071595],[-1.9132782386452856,-1.5532278704104696,1.2895577912835618,-1.307152929758243,-1.570884970154722,-0.3424017282538647],[-1.916535836704899,-1.5526896728275992,1.2888486132624581,-1.3069825710209961,-1.5708846594244912,-0.34565945106654417],[-1.919787554222891,-1.552136723873485,1.2881231559321968,-1.3068106874626628,-1.570884345501607,-0.34891129511028424],[-1.923033321470328,-1.5515690102791564,1.2873813359615707,-1.3066372092074328,-1.5708840283884766,-0.35215719064911993],[-1.9262730687545415,-1.5509865169454424,1.2866230637430063,-1.3064620619481826,-1.5708837080850884,-0.35539706798393744],[-1.9295067263454813,-1.550389226668765,1.2858482426415263,-1.3062851664717852,-1.5708833845886758,-0.358630857378948],[-1.932734224388199,-1.5497771198203325,1.2850567681145395,-1.306106438102258,-1.5708830578933128,-0.36185848897430095],[-1.9359554927984692,-1.5491501739684255,1.2842485266739037,-1.3059257860435807,-1.5708827279894269,-0.36507989268187474],[-1.9391704611376839,-1.5485083634306995,1.2834233946539133,-1.3057431125990564,-1.5708823948632078,-0.3682949980603621],[-1.9423790584620866,-1.5478516587396502,1.2825812367385034,-1.3055583122374936,-1.5708820584958918,-0.3715037341647431],[-1.945581213139936,-1.5471800259994035,1.281721904187038,-1.3053712704676506,-1.5708817188628805,-0.37470602936373865],[-1.9487768526281715,-1.546493426105121,1.2808452326790394,-1.3051818624702693,-1.57088137593266,-0.37790181111682464],[-1.9519659031973913,-1.5457918137869144,1.2799510396721399,-1.3049899514204724,-1.5708810296654516,-0.38109100569966187],[-1.9551482895900825,-1.5450751364269455,1.2790391211308694,-1.3047953864099602,-1.5708806800115185,-0.38427353786287244],[-1.9583239345915255,-1.5443433325796707,1.278109247431958,-1.3045979998454438,-1.5708803269090184,-0.3874493304036533],[-1.9614927584848452,-1.543596330098065,1.2771611581766211,-1.3043976041519276,-1.570879970281243,-0.39061830362173405],[-1.964654678349899,-1.54283404372873,1.276194555529486,-1.3041939875390176,-1.5708796100330216,-0.39378037461944804],[-1.967809607148052,-1.542056371978674,1.2752090955370616,-1.303986908482419,-1.5708792460459664,-0.39693545638807815],[-1.9709574525075493,-1.5412631929639058,1.2742043766216158,-1.303776088409421,-1.5708788781720762,-0.4000834565953416],[-1.9740981150810533,-1.5404543588034436,1.2731799240397093,-1.3035612018186875,-1.5708785062249626,-0.403224275945837],[-1.9772314862764115,-1.5396296878834286,1.2721351684317432,-1.3033418626433522,-1.5708781299675432,-0.4063578059159003],[-1.9803574450427968,-1.5387889539132529,1.2710694154710567,-1.303117604955896,-1.5708777490943384,-0.4094839255456342],[-1.9830935824592493,-1.5380182254702683,1.2700947583911302,-1.3029139626247006,-1.5708764419998444,-0.4122211047289386],[-1.9830379176122015,-1.5378799479834506,1.2699446501944553,-1.3028988299744302,-1.5708685899500483,-0.41217280916961696],[-1.9829913401067922,-1.5377648145269402,1.269819160790043,-1.302885621956196,-1.570861953240363,-0.41213292026267323],[-1.982953563945819,-1.537670718006728,1.2697161409589153,-1.302873933072678,-1.5708559980704722,-0.41210117279947706],[-1.9829231001062448,-1.5375938434431211,1.269631610937548,-1.3028636311527013,-1.5708505330880291,-0.41207614402105125],[-1.9828986145416574,-1.537531022760101,1.2695622329479908,-1.3028545684371928,-1.5708455176832656,-0.4120565596705194],[-1.98287899681883,-1.5374796683180543,1.2695052663203863,-1.3028466045103029,-1.5708409259113747,-0.4120413629190996],[-1.9828633333659424,-1.5374376706832609,1.2694584669653823,-1.3028396103132038,-1.5708367317974716,-0.4120296882365099],[-1.9828508751688378,-1.5374033104347198,1.269419998156679,-1.3028334690389611,-1.5708329086091952,-0.4120208296852717],[-1.9716138080549515,-1.55171957605967,1.3327055391590603,-1.351493086816931,-1.5708299462207713,-0.40081278392080033],[-1.9721372457992352,-1.5516655501066987,1.3329187096527464,-1.3517663386232044,-1.570827850852164,-0.4013359018183408],[-1.9722898041299282,-1.551789132545638,1.3349151619924076,-1.3536509062926456,-1.5708235465599607,-0.40148846010491257],[-1.9724312560332933,-1.5525861934864797,1.339799637212191,-1.357740703078615,-1.5708229622145884,-0.401630051929786],[-1.9725880512705456,-1.5534192826700441,1.3450725919779785,-1.362180577431077,-1.5708232672500932,-0.4017869636825468],[-1.9727492528489825,-1.5542319095403516,1.350346114258489,-1.3666414421844606,-1.570823581106443,-0.4019482590253856],[-1.9729107901923852,-1.5550254603353724,1.3555978863266749,-1.371099755822561,-1.570823843475909,-0.4021098784445194],[-1.9730723396579255,-1.555800008039285,1.3608257601128435,-1.3755532984563195,-1.5708240549005044,-0.402271500468717],[-1.9732338752251506,-1.556555635825558,1.3660298046658685,-1.380002042811579,-1.5708242210692562,-0.40243310034751667],[-1.9733953979689722,-1.5572924211060006,1.3712102788204776,-1.3844461572058229,-1.5708243474300678,-0.4025946801917425],[-1.9735569113975155,-1.5580104367834808,1.376367446748666,-1.3888858210574284,-1.5708244387876618,-0.4027562443943049],[-1.9737184190389097,-1.5587097516847765,1.3815015622091138,-1.3933212086822844,-1.5708244993520242,-0.4029177972454343],[-1.9738799242013225,-1.5593904307838098,1.3866128679778813,-1.3977524883833143,-1.5708245328153063,-0.40307934271216705],[-1.974041429969578,-1.560052535376483,1.3917015964776585,-1.4021798227907574,-1.5708245424205038,-0.4032408844506395],[-1.9742029392209872,-1.560696123249787,1.396767970487644,-1.4066033692996331,-1.5708245310204696,-0.40340242583496116],[-1.9743644546424595,-1.5613212488392407,1.401812203804417,-1.4110232804804241,-1.5708245011284792,-0.40356396998522276],[-1.9745259787474911,-1.5619279633733774,1.4068345018379411,-1.4154397044474136,-1.5708244549616177,-0.40372551979363047],[-1.9746875138926252,-1.5625163150062553,1.4118350621490323,-1.419852785189054,-1.5708243944781015,-0.40388707794865064],[-1.9748490622932808,-1.5630863489385858,1.4168140749343578,-1.4242626628649413,-1.5708243214094513,-0.4040486469573123],[-1.9750106260388844,-1.5636381075279884,1.4217717234637717,-1.4286694740728862,-1.5708242372882977,-0.4042102291658227],[-1.9751722071072908,-1.5641716303889555,1.4267081844744958,-1.4330733520893058,-1.570824143472466,-0.4043718267786299],[-1.975333807378478,-1.5646869544830868,1.431623628526185,-1.437474427085766,-1.5708240411658778,-0.4045334418760664],[-1.9754954286475381,-1.565184114200136,1.4365182203205555,-1.4418728263242382,-1.5708239314367456,-0.4046950764307113],[-1.975657072637004,-1.565663141430379,1.441392118988869,-1.4462686743333553,-1.570823815233424,-0.4048567323225954],[-1.975818741008541,-1.5661240656287514,1.4462454783501788,-1.45066209306764,-1.5708236933982689,-0.4050184113533715],[-1.9759804353740775,-1.5665669138711704,1.4510784471429707,-1.455053202051539,-1.5708235666797612,-0.40518011525956715],[-1.9761421573064113,-1.5669917109033786,1.4558911692324896,-1.4594421185098279,-1.5708234357431445,-0.405341845725031],[-1.9763039083493736,-1.5673984791825994,1.460683783795786,-1.4638289574858152,-1.5708233011797705,-0.40550360439268507],[-1.9764656900276143,-1.567787238912217,1.465456425486249,-1.4682138319485913,-1.5708231635153243,-0.4056653928756886],[-1.97662750385607,-1.568158008069631,1.4702092245791547,-1.4725968528904485,-1.5708230232170763,-0.40582721276811096],[-1.97678935134921,-1.5685108024273668,1.474942307099537,-1.476978129415447,-1.5708228807002826,-0.4059890656552181],[-1.9769512340301185,-1.568845635567433,1.4796557949334601,-1.481357768820017,-1.57082273633385,-0.4061509531234759],[-1.9771131534395052,-1.5691625188888532,1.4843498059235851,-1.4857358766663584,-1.570822590445345,-0.40631287677036076],[-1.977275111144733,-1.5694614616081917,1.489024453949719,-1.4901125568493439,-1.5708224433254376,-0.40647483821409164],[-1.9774371087489488,-1.5697424707528154,1.493679848994828,-1.4944879116575094,-1.5708222952318467,-0.4066368391033837],[-1.9775991479004151,-1.5700055511465179,1.4983160971968281,-1.4988620418286835,-1.5708221463928391,-0.4067988811273241],[-1.9777612303021592,-1.5702507053870018,1.5029333008862273,-1.5032350466007085,-1.5708219970103467,-0.4069609660255014],[-1.977923357722045,-1.570477933814606,1.507531558609529,-1.507607023757671,-1.5708218472627369,-0.4071230955985077],[-1.978085532003409,-1.5706872344714822,1.5121109651380558,-1.5119780696719973,-1.570821697307278,-0.4072852717189469],[-1.9782477550763966,-1.570878603050253,1.5166716114616061,-1.5163482793427039,-1.5708215472823388,-0.40744749634310434],[-1.9784100289701763,-1.5710520328309718,1.5212135847661048,-1.5207177464300692,-1.5708213973093437,-0.4076097715234566],[-1.9785723558262138,-1.57120751460495,1.525736968394092,-1.525086563286941,-1.5708212474945182,-0.40777209942219955],[-1.978734737912831,-1.5713450365836927,1.530241841786515,-1.52945482098683,-1.570821097930442,-0.40793448232604435],[-1.9788971776413142,-1.5714645842908492,1.534728280403907,-1.5338226093489284,-1.5708209486974303,-0.4080969226625132],[-1.9790596771476547,-1.5715661147908115,1.539196254581065,-1.5381899418811547,-1.5708207997355645,-0.4082594225820661],[-1.9792222384022997,-1.5716496015900194,1.5436457958008418,-1.5425568766014823,-1.5708206510641733,-0.4084219840690871],[-1.9793848639657634,-1.5717150248572553,1.548076969724273,-1.5469234989326888,-1.5708205027489814,-0.40858460969561794],[-1.9795475568000922,-1.571762361496502,1.55248983868505,-1.5512898942565645,-1.5708203548494493,-0.4087473024331896],[-1.9797103201208923,-1.571791585058697,1.5568844605265375,-1.5556561468453252,-1.5708202074163127,-0.4089100655053724],[-1.979873157417333,-1.5718026654863186,1.5612608882582142,-1.5600223397719113,-1.5708200604921405,-0.40907290240788363],[-1.9800360724888628,-1.571795568810397,1.565619169751733,-1.564388554907259,-1.5708199141120378,-0.40923581694536093],[-1.9801990694891243,-1.5717702567899667,1.5699593473813964,-1.5687548729198861,-1.570819768304267,-0.40939881327530653],[-1.9803621529778126,-1.5717266864814423,1.574281457589841,-1.5731213732711626,-1.5708196230907772,-0.4095618959599565],[-1.980525327982303,-1.5716648097218275,1.5785855303616252,-1.5774881342050673,-1.5708194784876417,-0.4097250700278937],[-1.9806886000714783,-1.5715845725050088,1.5828715885829576,-1.5818552327314457,-1.5708193345054038,-0.409888341047836],[-1.9808519754449312,-1.5714859142241226,1.5871396472591714,-1.5862227446014432,-1.5708191911493283,-0.4100517152177632],[-1.9810154610417214,-1.5713687667444718,1.5913897125526042,-1.5905907442733698,-1.5708190484195523,-0.41021519947356605],[-1.9811790646742933,-1.5712330532596708,1.5956217805910957,-1.594959304866637,-1.5708189063111282,-0.41037880162280044],[-1.981342795195126,-1.571078686867174,1.5998358359798714,-1.5993284981005456,-1.5708187648139356,-0.4105425305111224],[-1.981506662706529,-1.5709055687758096,1.6040318499247685,-1.6036983942134813,-1.570818623912447,-0.4107063962317829],[-1.9816706788281462,-1.5707135860238046,1.6082097778387587,-1.608069061856314,-1.5708184835852983,-0.41087041039273087],[-1.9818348570428612,-1.5705026085353422,1.6123695562504736,-1.6124405679511327,-1.5708183438046215,-0.41103458646197316],[-1.9819992131511641,-1.570272485267528,1.616511098753103,-1.6168129775025248,-1.5708182045350487,-0.41119894022119513],[-1.9821637658785651,-1.5700230390818453,1.6206342906076856,-1.621186353342363,-1.5708180657322715,-0.41136349037215364],[-1.9823285377039381,-1.5697540597870847,1.6247389814173014,-1.625560755779261,-1.570817927340963,-0.41152825936358106],[-1.982493556015075,-1.5694652944944496,1.6288249749652386,-1.629936242107604,-1.57081778929177,-0.41169327454468807],[-1.9826588547633979,-1.569156433906457,1.6328920147619062,-1.6343128659034505,-1.57081765149689,-0.4118585698168641],[-1.9827941205383055,-1.5688587227769095,1.636163821732076,-1.6378869075199731,-1.5708171457462903,-0.41199390157573734],[-1.9827959582080183,-1.5687038186517808,1.636026492844643,-1.6379253263642073,-1.570815090187946,-0.4119961065029403],[-1.9827975901467836,-1.5685758216386998,1.6359146167460987,-1.6379602878249857,-1.5708133204999988,-0.4119980731258655],[-1.98279907084214,-1.5684724841059503,1.6358258670611636,-1.6379918292556883,-1.5708117142287914,-0.41199985681064055],[-1.9828004176370806,-1.5683893239262185,1.6357558383780657,-1.6380202287364711,-1.5708102511786823,-0.4120014778041616],[-1.9828016420410643,-1.568322528192891,1.6357008181777475,-1.6380457622340152,-1.5708089204545606,-0.4120029503284893],[-1.9828027544226716,-1.5682689836235997,1.6356578047141355,-1.6380686968555984,-1.5708077119555843,-0.412004287223283],[-1.9828037644003687,-1.5682261587817539,1.6356243806591255,-1.6380892850246909,-1.5708066159008744,-0.41200550034967326],[-1.9828046808934428,-1.5681919969912066,1.6355986006359637,-1.6381077612642663,-1.5708056229163472,-0.4120066006600907],[-1.982805512150378,-1.5681648281844223,1.6355788998885208,-1.6381243408521324,-1.5708047241211052,-0.412007598244943],[-1.9828062657787275,-1.5681432969891471,1.6355640206647604,-1.6381392196924984,-1.5708039111802912,-0.4120085023795594],[-1.9828069487774984,-1.56812630411573,1.6355529528703758,-1.6381525749419832,-1.570803176330483,-0.41200932157238834],[-1.9828075675713495,-1.5681129585937286,1.635544886192704,-1.6381645660760416,-1.5708025123847986,-0.41201006361377757],[-1.9828081280458159,-1.5681025388557035,1.6355391714548415,-1.6381753361858582,-1.5708019127234563,-0.4120107356245827],[-1.9828086355828392,-1.5680944610353909,1.6355352894063728,-1.6381850133678963,-1.5708013712742337,-0.41201134410395307],[-1.9828090950959993,-1.568088253148477,1.6355328255118413,-1.6381937121179735,-1.5708008824862303,-0.4120118949757429],[-1.9828095110649555,-1.5680835340696142,1.6355314495806024,-1.638201534675588,-1.5708004412995031,-0.41201239363313014],[-1.9828098875687141,-1.568079996419428,1.635530899307381,-1.6382085722872157,-1.570800043112493,-0.4120128449811342],[-1.98281022831745,-1.5680773926385354,1.6355309669735056,-1.6382149063725384,-1.5707996837486584,-0.4120132534768289],[-1.9828105366826865,-1.568075523658807,1.6355314887037165,-1.6382206095875869,-1.5707993594233176,-0.4120136231671184],[-1.9828108157257105,-1.5680742296908186,1.6355323357899536,-1.6382257467851271,-1.5707990667114209,-0.4120139577240422],[-1.9828110682241762,-1.568073382735164,1.6355334076872954,-1.6382303758765158,-1.5707988025167194,-0.4120142604775948],[-1.98281129669687,-1.5680728804976818,1.6355346263627326,-1.6382345486014016,-1.5707985640426407,-0.4120145344461181],[-1.9828115034266716,-1.5680726414477746,1.6355359317385398,-1.6382383112127987,-1.5707983487650417,-0.4120147823643434],[-1.982811690481753,-1.568072600807146,1.6355372780211301,-1.6382417050853506,-1.5707981544069065,-0.41201500670918645],[-1.9828118597350965,-1.5680727072956766,1.6355386307461959,-1.6382447672545646,-1.5707979789150066,-0.4120152097234036],[-1.9828120128824072,-1.5680729204932,1.6355399644030542,-1.6382475308943756,-1.5707978204384725,-0.4120153934372531],[-1.9828121514585106,-1.5680732087021216,1.635541260527202,-1.6382500257399093,-1.5707976773092052,-0.41201555968827036],[-1.9828122768523386,-1.568073547217159,1.63554250617119,-1.6382522784617124,-1.5707975480240288,-0.4120157101393104],[-1.9828123903205994,-1.5680739169259135,1.6355436926810012,-1.6382543129970926,-1.5707974312284765,-0.41201584629496824],[-1.9828124930002193,-1.5680743031780966,1.6355448147189457,-1.6382561508436293,-1.5707973257020926,-0.41201596951651825],[-1.9828125859196666,-1.5680746948728825,1.6355458694853549,-1.6382578113193413,-1.5707972303451372,-0.41201608103548193],[-1.9828126700092346,-1.5680750837232125,1.635546856100393,-1.63825931179349,-1.5707971441665705,-0.41201618196594264],[-1.9828127461103706,-1.5680754636635887,1.635547775114727,-1.6382606678915042,-1.5707970662732194,-0.41201627331571683],[-1.982812814984146,-1.5680758303741342,1.6355486281237277,-1.638261893677105,-1.570796995860007,-0.4120163559964774],[-1.982812877318921,-1.5680761808987953,1.6355494174647587,-1.638263001814333,-1.5707969322011568,-0.4120164308329222],[-1.9828129337372977,-1.5680765133397072,1.635550145981012,-1.6382640037118337,-1.570796874642275,-0.4120164985710788],[-1.9828129848024039,-1.5680768266131195,1.6355508168385395,-1.638264909651477,-1.5707968225932247,-0.4120165598858208],[-1.9828130310235885,-1.5680771202550186,1.6355514333857049,-1.6382657289031315,-1.5707967755217214,-0.4120166153876685],[-1.9828130728615705,-1.5680773942668473,1.6355519990463765,-1.6382664698271692,-1.5707967329475716,-0.4120166656289409],[-1.9828131107330957,-1.5680776489934896,1.635552517239866,-1.6382671399661197,-1.5707966944374914,-0.41201671110931914],[-1.9828131450151478,-1.568077885027227,1.6355529913219844,-1.6382677461266726,-1.5707966596004523,-0.4120167522808823],[-1.9828131760487577,-1.5680781031325284,1.6355534245427124,-1.6382682944531297,-1.5707966280834917,-0.4120167895526542],[-1.982813204221591,-1.5680783049375089,1.6355538211443694,-1.6382687917740513,-1.5707965993342905,-0.41201682337651535],[-1.9828132299985783,-1.5680784925356603,1.6355541854793167,-1.6382692444676654,-1.5707965727018827,-0.41201685425401713],[-1.9828132533289458,-1.5680786660011585,1.6355545189021319,-1.6382696556811847,-1.5707965485529962,-0.4120168821624028],[-1.9828132745274634,-1.5680788257711278,1.6355548236314696,-1.6382700293329127,-1.5707965265754384,-0.4120169075077821],[-1.9828132932855627,-1.5680789678869669,1.6355550955493046,-1.638270361595635,-1.570796507724415,-0.41201693007160395],[-1.9828133102615288,-1.568079096356183,1.6355553409253207,-1.6382706601967083,-1.5707964906929868,-0.41201695049614745],[-1.9828133256456029,-1.5680792137608772,1.6355555640170425,-1.6382709302403666,-1.570796475253512,-0.41201696900191576],[-1.9828133395461736,-1.5680793214060618,1.6355557677275578,-1.6382711761381152,-1.570796461297938,-0.4120169857315276],[-1.9828133522608604,-1.568079424159605,1.6355559613193198,-1.638271412080344,-1.5707964482305037,-0.41201700098617944],[-1.9828133637714593,-1.5680795214266872,1.6355561424792748,-1.6382716329846554,-1.5707964365381129,-0.41201701481138175],[-1.982813374171376,-1.5680796100870535,1.6355563068853454,-1.6382718332253632,-1.5707964259981972,-0.4120170273059275],[-1.9828133835786346,-1.568079690561978,1.6355564556797788,-1.6382720143134248,-1.5707964164867583,-0.41201703860974553],[-1.9828133920898432,-1.5680797635635884,1.6355565903128315,-1.638272178057848,-1.5707964079001402,-0.4120170488382829],[-1.9828133997910815,-1.5680798297697895,1.6355567121309555,-1.638272326127716,-1.570796400146179,-0.41201705809457567],[-1.982813406759966,-1.5680798898016688,1.6355568223552521,-1.638272460032699,-1.5707963931423057,-0.4120170664715832],[-1.9828134130665798,-1.5680799442258202,1.6355569220906463,-1.6382725811358732,-1.5707963868144459,-0.4120170740532734],[-1.982813418774221,-1.5680799935585277,1.635557012336633,-1.6382726906678609,-1.5707963810960957,-0.41201708091552136],[-1.9828134239400768,-1.5680800382698894,1.6355570939972879,-1.638272789739837,-1.5707963759275054,-0.4120170871268955],[-1.982813428615822,-1.5680800787876903,1.6355571678903604,-1.6382728793552757,-1.5707963712549597,-0.4120170927493778],[-1.98281343284816,-1.568080115501002,1.6355572347555345,-1.638272960420545,-1.5707963670301404,-0.41201709783900353],[-1.9828134366764145,-1.5680801493321388,1.6355572961092613,-1.6382730351953638,-1.570796363205493,-0.4120171024433977],[-1.982813440149073,-1.5680801803151616,1.635557352010089,-1.638273103248973,-1.5707963597427985,-0.41201710661886815],[-1.982813443290528,-1.5680802082808,1.635557402433493,-1.6382731645550717,-1.5707963566133563,-0.4120171103967544],[-1.9828134461338274,-1.5680802334826052,1.6355574478789896,-1.6382732197465575,-1.5707963537838527,-0.41201711381638484],[-1.9828134487075844,-1.5680802561930736,1.6355574888453082,-1.6382732694467355,-1.5707963512249261,-0.412017116912043],[-1.9828134510374964,-1.5680802766625364,1.6355575257848276,-1.638273314218678,-1.5707963489102494,-0.41201711971456184],[-1.9828134531467707,-1.5680802951167128,1.635557559103422,-1.6382733545661314,-1.5707963468161554,-0.4120171222517971],[-1.9828134550563798,-1.5680803117584194,1.6355575891647518,-1.6382733909393026,-1.570796344921347,-0.4120171245489374],[-1.9828134567852858,-1.568080326769691,1.6355576162946734,-1.6382734237406515,-1.5707963432066425,-0.4120171266287592],[-1.982813458350635,-1.5680803403138335,1.6355576407852854,-1.6382734533301593,-1.570796341654754,-0.41201712851186495],[-1.982813459767937,-1.5680803525373421,1.6355576628985626,-1.6382734800300263,-1.5707963402500886,-0.41201713021689707],[-1.982813461051221,-1.5680803635716494,1.6355576828695997,-1.6382735041288472,-1.570796338978577,-0.4120171317607217],[-1.9828134622131832,-1.5680803735347073,1.6355577009094993,-1.6382735258853107,-1.5707963378275167,-0.41201713315859845],[-1.9828134632653092,-1.5680803825324225,1.6355577172079399,-1.6382735455314634,-1.570796336785434,-0.4120171344243431],[-1.9828134642179944,-1.5680803906599188,1.6355577319354462,-1.6382735632756054,-1.5707963358419623,-0.4120171355704564],[-1.9828134650806482,-1.5680803980026883,1.635557745245417,-1.638273579304845,-1.5707963349877312,-0.4120171366082544],[-1.9828258883816676,-1.5710978881785005,1.592691034822874,-1.5926009186311074,-1.570781260238144,-0.41202953152178173],[-1.9828257963983786,-1.5711965548165687,1.591546398965304,-1.5913565716157876,-1.5707813208054606,-0.41202944212823744],[-1.9828309439703988,-1.5712564354319363,1.5878974092750888,-1.5876471530711935,-1.5707813039776937,-0.412034579499925],[-1.9828353179360172,-1.5713264011530987,1.5836361533856123,-1.5833167297232171,-1.570781161493599,-0.41203894663160856],[-1.9828350876934009,-1.5713787614320003,1.579333529901137,-1.5789627122879801,-1.5707809967654665,-0.41203872070673214],[-1.982834638221962,-1.5714134000737836,1.5750122124860058,-1.5746077065437343,-1.570780833591047,-0.4120382757329617],[-1.982834197352303,-1.5714303122851585,1.5706735502592126,-1.5702530592479507,-1.570780672951556,-0.41203783895231993],[-1.9828337776193723,-1.5714295042065227,1.5663175464599346,-1.5658987700335523,-1.5707805145618863,-0.41203742290047896],[-1.9828333785726793,-1.5714109808529708,1.5619441229361708,-1.5615447585755333,-1.5707803580969202,-0.4120370271606915],[-1.9828329990882543,-1.571374745494013,1.5575531948303698,-1.5571909393617633,-1.5707802032602347,-0.4120366506422619],[-1.982832638092494,-1.5713207996535863,1.5531446750118447,-1.5528372261173604,-1.5707800497845252,-0.412036292302461],[-1.9828322945969443,-1.57124914313601,1.5487184742780937,-1.5484835320013584,-1.570779897428428,-0.4120359511812962],[-1.9828319676922486,-1.571159774048284,1.544274501304086,-1.544129769554638,-1.5707797459735322,-0.41203562639557123],[-1.9828316565403397,-1.5710526888173388,1.5398126625793427,-1.539775850638798,-1.57077959522175,-0.4120353171312069],[-1.9828313603671779,-1.5709278822023363,1.5353328623465001,-1.5354216863796168,-1.5707794449930008,-0.4120350226361185],[-1.9828310784561147,-1.5707853473022204,1.530835002541373,-1.5310671871151154,-1.570779295123176,-0.4120347422137161],[-1.9828308101418277,-1.5706250755587015,1.5263189827338473,-1.5267122623475209,-1.5707791454623394,-0.4120344752169724],[-1.98283055423373,-1.5704470967497866,1.5217848302535126,-1.5223569104533186,-1.5707789959085454,-0.4120342204727998],[-1.9828303106827385,-1.570251403463575,1.5172324590268247,-1.518001053888939,-1.5707788463393428,-0.41203397794586316],[-1.982830079041172,-1.570037981963749,1.5126617621168494,-1.513644600555647,-1.570778696635256,-0.41203374720204927],[-1.9828298587880355,-1.5698068168989059,1.508072629621111,-1.5092874569211014,-1.5707785466854822,-0.4120335277329442],[-1.9828296494262991,-1.5695578911784764,1.5034649489327678,-1.5049295284097703,-1.5707783963873243,-0.41203331905294566],[-1.9828294504843589,-1.5692911859514254,1.4988386047123512,-1.5005707194037858,-1.5707782456452972,-0.41203312070081494],[-1.9828292615128877,-1.569006680579787,1.4941934788214317,-1.4962109332103768,-1.5707780943703038,-0.4120329322366199],[-1.9828290820815968,-1.5687043526081847,1.4895294502516414,-1.4918500720280143,-1.570777942478889,-0.41203275323858407],[-1.9828289117761986,-1.5683841777291954,1.4848463950504496,-1.4874880369128398,-1.5707777898925714,-0.41203258330012793],[-1.9828287501955526,-1.568046129744473,1.4801441862434712,-1.4831247277453254,-1.570777636537244,-0.412032422027092],[-1.9828285969489823,-1.567690180521509,1.4754226937529689,-1.4787600431969805,-1.5707774823426255,-0.4120322690351214],[-1.9828284516537222,-1.5673162999458596,1.4706817843121647,-1.4743938806969605,-1.5707773272417707,-0.4120321239471764],[-1.9828283139324863,-1.5669244558686233,1.465921321374953,-1.4700261363984193,-1.5707771711706218,-0.412031986391155],[-1.9828281834111183,-1.5665146140488995,1.4611411650205715,-1.465656705144475,-1.5707770140676005,-0.4120318559976011],[-1.9828280597163137,-1.5660867380908998,1.456341171852739,-1.4612854804336652,-1.570776855873238,-0.41203173239747404],[-1.9828279424733863,-1.5656407893753175,1.4515211948927078,-1.4569123543847717,-1.5707766965298293,-0.4120316152199543],[-1.982827831304048,-1.5651767269844783,1.4466810834656092,-1.4525372177008924,-1.570776535981125,-0.4120315040902687],[-1.9828277258241978,-1.5646945076207184,1.4418206830794003,-1.448159959632655,-1.570776374172035,-0.412031398627516],[-1.9828276256416744,-1.5641940855173178,1.4369398352955958,-1.4437804679404609,-1.5707762110483614,-0.4120312984424527],[-1.9828275303539626,-1.5636754123412229,1.432038377590904,-1.4393986288556533,-1.5707760465565448,-0.4120312031352269],[-1.9828274395458176,-1.5631384370866275,1.427116143208673,-1.4350143270404903,-1.5707758806434253,-0.41203111229303724],[-1.982827352786783,-1.5625831059583257,1.422172960998954,-1.4306274455468155,-1.5707757132560185,-0.41203102548767206],[-1.9828272696285696,-1.5620093622435662,1.4172086552457563,-1.4262378657733041,-1.570775544341295,-0.4120309422729136],[-1.982827189602257,-1.5614171461708786,1.4122230454798272,-1.4218454674211616,-1.570775373845973,-0.41203086218176366],[-1.982827112215278,-1.5608063947540822,1.4072159462750182,-1.4174501284481504,-1.570775201716313,-0.412030784723447],[-1.9828270369481442,-1.5601770416193157,1.4021871670259072,-1.41305172502078,-1.5707750278979147,-0.41203070938015496],[-1.9828269632508533,-1.5595290168125362,1.3971365117039636,-1.4086501314645337,-1.5707748523355112,-0.41203063560347497],[-1.9828268905389224,-1.5588622465843882,1.3920637785889565,-1.4042452202119406,-1.5707746749727647,-0.4120305628104386],[-1.9828268181889699,-1.5581766531487111,1.3869687599716698,-1.3998368617483021,-1.5707744957520502,-0.41203049037912115],[-1.982826745533765,-1.5574721544101642,1.3818512418231623,-1.3954249245548698,-1.5707743146142332,-0.41203041764370657],[-1.9828266718566354,-1.5567486636554215,1.3767110034247638,-1.3910092750492227,-1.5707741314984316,-0.41203034388891396],[-1.9828265963851206,-1.5560060892011247,1.3715478169516764,-1.3865897775225542,-1.5707739463417596,-0.41203026834366735],[-1.9828265182837073,-1.555244333990159,1.3663614470014032,-1.382166294073558,-1.570773759079046,-0.41203019017384435],[-1.9828264366454749,-1.55446329512572,1.3611516500560308,-1.3777386845385082,-1.5707735696425222,-0.4120301084739448],[-1.9828263504824226,-1.5536628633299254,1.35591817386463,-1.3733068064170864,-1.5707733779614717,-0.4120300222574341],[-1.982826258714195,-1.552842922310168,1.3506607567283657,-1.3688705147934028,-1.5707731839618246,-0.41202993044549213],[-1.9828261601548607,-1.552003348011682,1.3453791266660384,-1.3644296622515386,-1.5707729875656953,-0.4120298318538128],[-1.9828260534973015,-1.551144007728489,1.3400730004313204,-1.3599840987847753,-1.570772788690829,-0.41202972517702263],[-1.982825937294652,-1.5502647590363265,1.334742082344135,-1.3555336716975006,-1.5707725872499514,-0.41202960897015134],[-1.9828258099380696,-1.5493654484993846,1.3293860628865575,-1.3510782254984557,-1.5707723831499787,-0.4120294816264351],[-1.982825669629904,-1.5484459100863501,1.3240046169968644,-1.3466176017836908,-1.5707721762910507,-0.4120293413505351],[-1.9828255143510523,-1.5475059632080341,1.3185974019715463,-1.342151639107014,-1.570771966565329,-0.41202918612593903],[-1.9828253418208823,-1.546545410255632,1.313164054851096,-1.3376801728351053,-1.5707717538554862,-0.4120290136749566],[-1.9828251494475921,-1.5455640334698135,1.3077041891153443,-1.3332030349833839,-1.5707715380327647,-0.41202882140915154],[-1.9828249342660917,-1.5445615908979227,1.3022173904395606,-1.328720054027373,-1.5707713189544565,-0.4120286063673321],[-1.9828246928594646,-1.543537811084923,1.2967032111484058,-1.3242310546821432,-1.5707710964605566,-0.412028365137137],[-1.9828244212585489,-1.5424923859685984,1.2911611628259494,-1.319735857639286,-1.5707708703692387,-0.41202809375478666],[-1.9828241148120436,-1.541424961166594,1.285590706251168,-1.3152342792459204,-1.570770640470599,-0.4120277875754062],[-1.982823768018406,-1.5403351215839605,1.2799912346425388,-1.310726129220129,-1.5707704065163464,-0.4120274411052979],[-1.9828233742968153,-1.539222373133421,1.274362052563265,-1.3062112079287964,-1.5707701682069806,-0.41202704777339816],[-1.9828213281819922,-1.538895829499968,1.2734250260859201,-1.3055793883154077,-1.5707721004271842,-0.41202500635607525],[-1.9828191989229496,-1.53870766919513,1.273169052435334,-1.3054887725782371,-1.570774193053007,-0.4120228825305387],[-1.9828172378829434,-1.5385506818293864,1.2729538052253384,-1.3054096642206745,-1.5707761210266609,-0.41202092611073443],[-1.982815434467612,-1.5384200291107653,1.2727732055413679,-1.305340669068179,-1.570777894486692,-0.4120191264063893],[-1.9828137783940687,-1.5383112059293262,1.272621580524039,-1.3052804764924433,-1.5707795233877793,-0.4120174732231415],[-1.9828122596508608,-1.538220451222686,1.2724941472399576,-1.305227932005109,-1.5707810174780756,-0.4120159566526603],[-1.9828108685251538,-1.5381446579868097,1.2723869129427718,-1.305182026008664,-1.5707823862361363,-0.4120145670813056],[-1.9828095956728766,-1.5380812625141296,1.2722965502019377,-1.3051418793148946,-1.5707836387951593,-0.41201329525662017],[-1.9828084321730968,-1.5380281491548582,1.2722202874683892,-1.3051067286575218,-1.5707847838858235,-0.41201213234063727],[-1.9828073695640271,-1.5379835714360721,1.2721558167674163,-1.3050759129438694,-1.5707858297979647,-0.41201106994566233],[-1.9828063998636862,-1.5379460870462118,1.2721012163280174,-1.3050488605451231,-1.5707867843578907,-0.41201010015511624],[-1.9828055155783273,-1.537914504284402,1.2720548858710532,-1.3050250777575407,-1.5707876549181723,-0.412009215532419],[-1.9828047097013257,-1.537887837959694,1.2720154925664309,-1.3050041384690896,-1.5707884483572077,-0.41200840912047043],[-1.9828039757047669,-1.537865273076157,1.2719819259595828,-1.3049856750038293,-1.5707891710862898,-0.41200767443391656],[-1.9828033075255778,-1.5378461349319068,1.2719532604229047,-1.3049693700781662,-1.570789829062306,-0.4120070054459843],[-1.9828026995477144,-1.5378298645010922,1.2719287239085686,-1.3049549497816186,-1.570790427804537,-0.41200639657135896],[-1.9828021465816188,-1.537815998166486,1.271907671968992,-1.304942177484823,-1.5707909724143065,-0.4120058426463084],[-1.982801643841932,-1.5378041510341212,1.2718895661737994,-1.3049308485753053,-1.5707914675964885,-0.41200533890701296],[-1.9828011869242321,-1.5377940031965556,1.271873956190907,-1.3049207859243015,-1.570791917682078,-0.4120048809668682],[-1.9828007717813996,-1.5377852884228542,1.2718604649173524,-1.3049118359937413,-1.5707923266512052,-0.41200446479336766],[-1.9828003947000912,-1.5377777848454184,1.271848776145635,-1.3049038654999765,-1.5707926981561149,-0.4120040866850253],[-1.982800052277654,-1.5377713072896302,1.2718386243357873,-1.304896758559008,-1.5707930355437474,-0.41200374324870426],[-1.982799741399761,-1.5377657009549575,1.2718297861348384,-1.3048904142463247,-1.570793341877653,-0.4120034313775979],[-1.9827994592189344,-1.5377608362076847,1.271822073345094,-1.3048847445124259,-1.5707936199590544,-0.41200314823007195],[-1.9827992031340977,-1.5377566042880308,1.2718153270930448,-1.3048796724026424,-1.5707938723469177,-0.4120028912094806],[-1.9827989707712246,-1.5377529137693793,1.271809412992646,-1.304875130536688,-1.570794101376956,-0.41200265794504703],[-1.9827987599651284,-1.5377496876362335,1.271804217131926,-1.3048710598095419,-1.5707943091795196,-0.4120024462738552],[-1.9827985687424063,-1.5377468608712088,1.2717996427410525,-1.304867408280691,-1.5707944976963606,-0.4120022542239628],[-1.9827983953055246,-1.5377443784609297,1.2717956074244317,-1.304864130223563,-1.570794668696271,-0.41200207999863186],[-1.9827982380180245,-1.5377421937467235,1.271792040859589,-1.3048611853111232,-1.5707948237896339,-0.41200192196165736],[-1.9827980953908049,-1.5377402670592364,1.271788882882423,-1.3048585379172015,-1.5707949644419035,-0.4120017786237582],[-1.9827979660694397,-1.5377385645869244,1.2717860818923286,-1.3048561565162138,-1.5707950919860787,-0.41200164862997846],[-1.9827978488224784,-1.5377370574372873,1.2717835935222266,-1.304854013166563,-1.5707952076342058,-0.4120015307480635],[-1.9827977425306715,-1.5377357208570517,1.2717813795280892,-1.3048520830652826,-1.5707953124879728,-0.4120014238577491],[-1.9827976461770702,-1.537734533583508,1.2717794068604127,-1.3048503441633563,-1.570795407548444,-0.4120013269409108],[-1.9827975588379372,-1.5377334773041456,1.2717776468866593,-1.3048487768328292,-1.570795493724998,-0.4120012390725186],[-1.9827974796744186,-1.5377325362058005,1.271776074739017,-1.3048473635781224,-1.5707955718435134,-0.4120011594123459],[-1.9827974079249209,-1.5377316965978367,1.2717746687663163,-1.3048460887852,-1.5707956426538687,-0.41200108719737416],[-1.9827973428981378,-1.537730946596648,1.271773410072595,-1.3048449385031424,-1.5707957068367937,-0.41200102173484376],[-1.9827972839666832,-1.537730275860978,1.2717722821278212,-1.3048439002535637,-1.5707957650101332,-0.4120009623959085],[-1.982797230561277,-1.5377296753694352,1.2717712704388116,-1.304842962863968,-1.570795817734562,-0.4120009086098335],[-1.982797182165443,-1.5377291372330637,1.271770362270399,-1.3048421163217392,-1.5707958655187995,-0.4120008598587093],[-1.982797138310676,-1.5377286545371018,1.2717695464086445,-1.3048413516459583,-1.5707959088243597,-0.4120008156726287],[-1.9827970985720402,-1.53772822120707,1.2717688129592732,-1.3048406607746392,-1.57079594806988,-0.41200077562529025],[-1.9827970625641609,-1.5377278318951708,1.2717681531756728,-1.3048400364653554,-1.5707959836350645,-0.41200073932999737],[-1.9827970299375757,-1.537727481883685,1.2717675593117457,-1.3048394722074872,-1.5707960158642678,-0.4120007064360146],[-1.9827970003754223,-1.5377271670026103,1.2717670244957169,-1.30483896214461,-1.5707960450697585,-0.41200067662525514],[-1.9827969735904154,-1.5377268835592612,1.2717665426216178,-1.3048385010057262,-1.5707960715346836,-0.41200064960926486],[-1.9827969493221114,-1.537726628277934,1.271766108255751,-1.304838084044244,-1.5707960955157698,-0.4120006251264824],[-1.9827969273344117,-1.5377263982480596,1.271765716555835,-1.3048377069837342,-1.5707961172457665,-0.4120006029397485],[-1.9827969074133056,-1.5377261908795377,1.2717653632009518,-1.3048373659696597,-1.570796136935677,-0.41200058283404234],[-1.9827968893648116,-1.537726003864151,1.2717650443306967,-1.3048370575263495,-1.5707961547767781,-0.4120005646144272],[-1.9827968730131125,-1.537725835142142,1.2717647564921792,-1.3048367785186052,-1.5707961709424536,-0.41200054810418474],[-1.9827968581988638,-1.5377256828731942,1.2717644965937618,-1.3048365261173969,-1.5707961855898642,-0.4120005331431158],[-1.9827968447776547,-1.5377255454111687,1.2717642618645877,-1.3048362977691867,-1.5707961988614563,-0.4120005195860078],[-1.982796832618614,-1.537725421282053,1.2717640498190697,-1.304836091168455,-1.5707962108863363,-0.41200050730123317],[-1.982796821603145,-1.5377253091646754,1.271763858225699,-1.3048359042330846,-1.5707962217815161,-0.41200049616948653],[-1.9827968116237786,-1.537725207873792,1.271763685079561,-1.3048357350822821,-1.5707962316530417,-0.41200048608263073],[-1.9827968025831304,-1.5377251163452232,1.2717635285780815,-1.304835582016754,-1.5707962405970177,-0.41200047694265873],[-1.9827967943929588,-1.5377250336227608,1.2717633870995764,-1.3048354435008984,-1.5707962487005385,-0.412000468660743],[-1.9827967869733067,-1.5377249588466262,1.2717632591842687,-1.3048353181468022,-1.5707962560425293,-0.41200046115638006],[-1.982796780251726,-1.5377248912432449,1.271763143517417,-1.304835204699836,-1.5707962626945131,-0.4120004543566112],[-1.982796774162574,-1.5377248301162083,1.2717630389143435,-1.3048351020256959,-1.5707962687213002,-0.412000448195316],[-1.982796768646376,-1.5377247748382403,1.271762944307097,-1.3048350090987302,-1.5707962741816217,-0.4120004426125752],[-1.9827967636492445,-1.5377247248440655,1.2717628587325676,-1.3048349249914262,-1.5707962791286934,-0.41200043755408583],[-1.9827967591223576,-1.5377246796240567,1.2717627813218801,-1.3048348488649288,-1.5707962836107379,-0.412000432970641],[-1.9827967550214807,-1.5377246387185723,1.2717627112909122,-1.3048347799604956,-1.570796287671449,-0.4120004288176453],[-1.9827967513065388,-1.5377246017129071,1.2717626479318223,-1.3048347175917858,-1.5707962913504183,-0.4120004250546911],[-1.9827967479412238,-1.53772456823277,1.2717625906054435,-1.3048346611379014,-1.5707962946835203,-0.41200042164515843],[-1.9827967448926418,-1.537724537940252,1.2717625387344909,-1.3048346100371095,-1.5707962977032586,-0.41200041855586494],[-1.9827967421309922,-1.5377245105302022,1.2717624917974462,-1.3048345637811718,-1.570796300439085,-0.41200041575674246],[-1.9827967396292772,-1.5377244857269858,1.2717624493230761,-1.304834521910221,-1.5707963029176835,-0.41200041322054387],[-1.9827967373630369,-1.5377244632815745,1.2717624108855063,-1.3048344840081378,-1.570796305163233,-0.41200041092257916],[-1.9827967353101128,-1.5377244429689336,1.2717623760997947,-1.3048344496983728,-1.5707963071976392,-0.41200040884047734],[-1.9827967334504315,-1.5377244245856694,1.2717623446179385,-1.3048344186401648,-1.5707963090407502,-0.412000406953966],[-1.9827967317658068,-1.5377244079479222,1.271762316125289,-1.3048343905251285,-1.5707963107105494,-0.4120004052446758],[-1.982796730239764,-1.5377243928894646,1.2717622903373238,-1.3048343650741725,-1.5707963122233288,-0.4120004036959628],[-1.9827967288573778,-1.5377243792599882,1.2717622669967314,-1.3048343420347057,-1.5707963135938514,-0.41200040229274537],[-1.9827967276051275,-1.5377243669235636,1.2717622458707794,-1.304834321178113,-1.5707963148354909,-0.41200040102135754],[-1.9827967264707655,-1.5377243557572529,1.271762226748958,-1.304834302297478,-1.5707963159603655,-0.41200039986941633],[-1.9827967254431946,-1.5377243456498546,1.271762209440833,-1.304834285205515,-1.570796316979453,-0.41200039882570305],[-1.9827967245123637,-1.537724336500777,1.2717621937741277,-1.3048342697327087,-1.5707963179027007,-0.4120003978800513],[-1.9827967236691666,-1.5377243282190127,1.2717621795929677,-1.3048342557256174,-1.5707963187391196,-0.41200039702324903],[-1.9827967229053545,-1.5377243207222286,1.2717621667563277,-1.3048342430453543,-1.5707963194968746,-0.41200039624695034],[-1.9827967222134542,-1.5377243139359251,1.2717621551365947,-1.3048342315661996,-1.5707963201833623,-0.4120003955435923],[-1.9827967215866968,-1.5377243077926934,1.2717621446182972,-1.304834221174353,-1.5707963208052849,-0.4120003949063227],[-1.9827967210189499,-1.537724302231533,1.2717621350969388,-1.304834211766802,-1.5707963213687133,-0.4120003943289328],[-1.9827967205046584,-1.5377242971972422,1.2717621264779555,-1.304834203250298,-1.5707963218791483,-0.41200039380579806],[-1.9827967200387897,-1.537724292639864,1.2717621186757655,-1.3048341955404292,-1.5707963223415735,-0.41200039333182],[-1.9827967196167853,-1.5377242885141866,1.271762111612918,-1.304834188560786,-1.5707963227605037,-0.41200039290238044],[-1.982796719234516,-1.5377242847792896,1.2717621052193102,-1.3048341822421954,-1.5707963231400297,-0.4120003925132959],[-1.9827967188882405,-1.5377242813981356,1.2717620994314969,-1.304834176522042,-1.5707963234838576,-0.4120003921607737],[-1.9827967185745707,-1.537724278337205,1.271762094192053,-1.3048341713436404,-1.570796323795344,-0.4120003918413794],[-1.9827967182904358,-1.5377242755661555,1.2717620894490052,-1.3048341666556802,-1.5707963240775304,-0.412000391551999],[-1.982796718033056,-1.5377242730575218,1.2717620851553026,-1.3048341624117055,-1.5707963243331733,-0.4120003912898148],[-1.982796717799912,-1.5377242707864454,1.2717620812683643,-1.3048341585696661,-1.5707963245647687,-0.4120003910522694],[-1.982796717588722,-1.5377242687304218,1.2717620777496421,-1.3048341550914935,-1.5707963247745789,-0.41200039083704704],[-1.9827967173974186,-1.5377242668690834,1.2717620745642493,-1.3048341519427265,-1.570796324964652,-0.41200039064205296],[-1.9827967172241299,-1.5377242651839893,1.2717620716805988,-1.304834149092166,-1.5707963251368446,-0.41200039046538406],[-1.9827967170671592,-1.537724263658447,1.2717620690701017,-1.3048341465115687,-1.5707963252928399,-0.41200039030531915],[-1.982796716924971,-1.537724262277349,1.271762066706882,-1.304834144175369,-1.5707963254341597,-0.41200039016029766],[-1.9827967167961722,-1.5377242610270148,1.271762064567511,-1.3048341420604195,-1.5707963255621848,-0.41200039002890626],[-1.9827967166795029,-1.5377242598950618,1.271762062630782,-1.3048341401457662,-1.5707963256781665,-0.41200038990986365],[-1.9827967165738203,-1.5377242588702806,1.2717620608774995,-1.3048341384124407,-1.5707963257832367,-0.41200038980201],[-1.9827967164780902,-1.5377242579425225,1.2717620592902845,-1.3048341368432692,-1.5707963258784223,-0.412000389704293],[-1.9827967163913758,-1.5377242571026017,1.2717620578534081,-1.3048341354227075,-1.5707963259646531,-0.4120003896157618],[-1.9827967163128275,-1.5377242563422007,1.2717620565526255,-1.3048341341366783,-1.5707963260427713,-0.41200038953555057],[-1.982796716241677,-1.5377242556537905,1.2717620553750486,-1.3048341329724442,-1.5707963261135405,-0.4120003894628798],[-1.9827967161772266,-1.5377242550305548,1.2717620543090062,-1.3048341319184686,-1.5707963261776507,-0.4120003893970382],[-1.9827967161188467,-1.5377242544663243,1.2717620533439353,-1.3048341309643106,-1.5707963262357298,-0.4120003893373868],[-1.9827967160659643,-1.5377242539555116,1.2717620524702702,-1.3048341301005166,-1.5707963262883446,-0.412000389283342],[-1.982796716018063,-1.5377242534930595,1.2717620516793546,-1.3048341293185295,-1.5707963263360092,-0.41200038923437776],[-1.9827967159746729,-1.537724253074389,1.2717620509633485,-1.3048341286106,-1.570796326379189,-0.41200038919001514],[-1.9827967159353697,-1.5377242526953545,1.2717620503151568,-1.304834127969716,-1.5707963264183065,-0.41200038914982356],[-1.9827967158997677,-1.5377242523522057,1.2717620497283593,-1.3048341273895279,-1.5707963264537432,-0.4120003891134098],[-1.982796715867519,-1.5377242520415424,1.2717620491971382,-1.3048341268642876,-1.570796326485846,-0.4120003890804199],[-1.9827967158383077,-1.5377242517602925,1.2717620487162333,-1.304834126388792,-1.5707963265149278,-0.41200038905053016],[-1.9827967158118482,-1.5377242515056684,1.2717620482808742,-1.3048341259583278,-1.5707963265412734,-0.4120003890234507],[-1.9827967157878805,-1.5377242512751503,1.2717620478867504,-1.3048341255686327,-1.5707963265651403,-0.41200038899891717],[-1.9827967157661706,-1.537724251066457,1.2717620475299558,-1.3048341252158444,-1.5707963265867613,-0.4120003889766899],[-1.9827967157465047,-1.5377242508775206,1.2717620472069535,-1.3048341248964679,-1.5707963266063478,-0.4120003889565516],[-1.9827967157286919,-1.5377242507064728,1.2717620469145454,-1.3048341246073394,-1.5707963266240912,-0.4120003889383073],[-1.9827967157125568,-1.5377242505516184,1.2717620466498323,-1.3048341243455936,-1.5707963266401652,-0.41200038892177826],[-1.9827967156979414,-1.5377242504114246,1.2717620464101898,-1.304834124108637,-1.5707963266547267,-0.41200038890680246],[-1.9827967156847022,-1.5377242502845034,1.2717620461932453,-1.304834123894123,-1.5707963266679181,-0.4120003888932346],[-1.9827967156727107,-1.5377242501695987,1.2717620459968484,-1.304834123699925,-1.570796326679868,-0.4120003888809436],[-1.9827967156618487,-1.5377242500655735,1.2717620458190544,-1.30483412352412,-1.5707963266906935,-0.4120003888698068],[-1.9827967156520094,-1.5377242499713963,1.271762045658099,-1.3048341233649647,-1.5707963267005003,-0.4120003888597181],[-1.9827967156430977,-1.5377242498861357,1.271762045512389,-1.304834123220884,-1.5707963267093843,-0.4120003888505769],[-1.9827967156350248,-1.5377242498089472,1.2717620453804799,-1.3048341230904492,-1.570796326717432,-0.41200038884229606],[-1.9827967156277126,-1.5377242497390669,1.2717620452610643,-1.304834122972367,-1.5707963267247227,-0.4120003888347933],[-1.982796715621089,-1.5377242496758026,1.2717620451529594,-1.3048341228654694,-1.5707963267313274,-0.4120003888279958],[-1.9827967156150896,-1.537724249618528,1.2717620450550937,-1.3048341227686964,-1.5707963267373102,-0.4120003888218384],[-1.9827967156096558,-1.5377242495666763,1.2717620449664973,-1.304834122681088,-1.57079632674273,-0.41200038881625894],[-1.982796715604733,-1.5377242495197334,1.271762044886293,-1.3048341226017788,-1.57079632674764,-0.41200038881120465],[-1.982796715600274,-1.5377242494772354,1.2717620448136846,-1.3048341225299795,-1.570796326752088,-0.4120003888066254],[-1.9827967155962358,-1.537724249438761,1.271762044747954,-1.3048341224649813,-1.5707963267561167,-0.41200038880247714],[-1.9827967155925774,-1.5377242494039298,1.2717620446884492,-1.3048341224061393,-1.5707963267597673,-0.41200038879871825],[-1.9827967155892636,-1.5377242493723957,1.2717620446345799,-1.3048341223528699,-1.5707963267630736,-0.4120003887953131],[-1.982796715586263,-1.5377242493438488,1.2717620445858147,-1.304834122304647,-1.5707963267660685,-0.41200038879222833],[-1.982796715583544,-1.5377242493180037,1.2717620445416675,-1.3048341222609907,-1.570796326768782,-0.41200038878943374],[-1.9827967155810815,-1.5377242492946055,1.271762044501701,-1.3048341222214694,-1.5707963267712404,-0.4120003887869011],[-1.9827967155788508,-1.5377242492734229,1.2717620444655207,-1.3048341221856912,-1.5707963267734668,-0.41200038878460754],[-1.9827967155768305,-1.5377242492542458,1.271762044432767,-1.3048341221533017,-1.570796326775484,-0.4120003887825293],[-1.9827967155750006,-1.5377242492368846,1.2717620444031157,-1.3048341221239799,-1.5707963267773113,-0.4120003887806469],[-1.9827967155733426,-1.5377242492211673,1.2717620443762738,-1.304834122097436,-1.5707963267789666,-0.4120003887789409],[-1.9827967155718416,-1.5377242492069387,1.2717620443519742,-1.3048341220734054,-1.570796326780466,-0.412000388777396],[-1.982796715570481,-1.5377242491940564,1.2717620443299757,-1.3048341220516524,-1.5707963267818246,-0.41200038877599565],[-1.9827967155692492,-1.5377242491823937,1.2717620443100601,-1.3048341220319577,-1.570796326783055,-0.4120003887747279],[-1.9827967155681336,-1.5377242491718361,1.2717620442920328,-1.30483412201413,-1.5707963267841696,-0.41200038877357814],[-1.9827967155671231,-1.5377242491622778,1.2717620442757127,-1.3048341219979909,-1.5707963267851792,-0.41200038877253786],[-1.9827967155662076,-1.5377242491536245,1.271762044260937,-1.304834121983379,-1.5707963267860943,-0.4120003887715946],[-1.9827967155653783,-1.5377242491457905,1.2717620442475617,-1.3048341219701522,-1.5707963267869227,-0.41200038877073997],[-1.982796715564627,-1.537724249138699,1.271762044235454,-1.3048341219581778,-1.5707963267876737,-0.4120003887699662],[-1.9827967155639468,-1.5377242491322785,1.2717620442244921,-1.3048341219473378,-1.5707963267883536,-0.41200038876926476],[-1.9827967155633308,-1.5377242491264658,1.2717620442145698,-1.304834121937525,-1.5707963267889693,-0.41200038876862943],[-1.9827967155627721,-1.5377242491212038,1.2717620442055861,-1.3048341219286408,-1.5707963267895273,-0.41200038876805417],[-1.9827967155622672,-1.5377242491164398,1.271762044197454,-1.3048341219205986,-1.570796326790033,-0.41200038876753303],[-1.9827967155618091,-1.537724249112128,1.2717620441900934,-1.3048341219133184,-1.5707963267904907,-0.4120003887670606],[-1.9827967155613941,-1.5377242491082224,1.2717620441834272,-1.304834121906727,-1.5707963267909055,-0.4120003887666322],[-1.9827967155610187,-1.5377242491046876,1.2717620441773938,-1.3048341219007606,-1.5707963267912814,-0.4120003887662447],[-1.9827967155606783,-1.5377242491014878,1.2717620441719324,-1.3048341218953587,-1.5707963267916214,-0.41200038876589357],[-1.9827967155603703,-1.537724249098591,1.2717620441669883,-1.3048341218904695,-1.5707963267919298,-0.4120003887655753],[-1.982796715560091,-1.537724249095968,1.2717620441625124,-1.304834121886043,-1.5707963267922094,-0.41200038876528705],[-1.982796715559838,-1.5377242490935945,1.2717620441584612,-1.3048341218820356,-1.5707963267924623,-0.4120003887650261],[-1.982796715559609,-1.5377242490914442,1.2717620441547917,-1.3048341218784072,-1.5707963267926912,-0.4120003887647898],[-1.9827967155594015,-1.5377242490894982,1.2717620441514714,-1.3048341218751243,-1.570796326792899,-0.4120003887645754],[-1.9827967155592137,-1.5377242490877365,1.271762044148465,-1.3048341218721506,-1.5707963267930871,-0.4120003887643809],[-1.9827967155590436,-1.537724249086142,1.2717620441457436,-1.3048341218694588,-1.5707963267932574,-0.4120003887642046],[-1.9827967155588893,-1.5377242490846978,1.2717620441432795,-1.3048341218670223,-1.5707963267934117,-0.41200038876404554],[-1.9827967155587496,-1.5377242490833916,1.2717620441410502,-1.304834121864817,-1.5707963267935514,-0.41200038876390144],[-1.982796715558623,-1.5377242490822076,1.2717620441390307,-1.3048341218628199,-1.5707963267936782,-0.41200038876377054],[-1.9827967155585087,-1.5377242490811365,1.2717620441372026,-1.3048341218610124,-1.5707963267937928,-0.41200038876365236],[-1.982796715558405,-1.5377242490801664,1.2717620441355482,-1.304834121859376,-1.5707963267938967,-0.41200038876354467],[-1.9827967155583108,-1.5377242490792893,1.2717620441340511,-1.304834121857895,-1.5707963267939908,-0.41200038876344713],[-1.9827967155582258,-1.5377242490784935,1.2717620441326938,-1.3048341218565531,-1.5707963267940763,-0.4120003887633598],[-1.982796715558149,-1.537724249077775,1.271762044131468,-1.3048341218553394,-1.5707963267941536,-0.41200038876327977],[-1.9827967155580788,-1.537724249077123,1.271762044130356,-1.3048341218542405,-1.5707963267942238,-0.41200038876320727],[-1.9827967155580153,-1.5377242490765328,1.2717620441293491,-1.3048341218532455,-1.570796326794287,-0.4120003887631419],[-1.9827967155579584,-1.537724249075999,1.2717620441284394,-1.3048341218523452,-1.5707963267943443,-0.4120003887630825],[-1.9827967155579063,-1.537724249075516,1.2717620441276152,-1.3048341218515296,-1.5707963267943963,-0.4120003887630285],[-1.9827967155578594,-1.537724249075078,1.2717620441268678,-1.304834121850791,-1.5707963267944431,-0.4120003887629804],[-1.9827967155578168,-1.5377242490746819,1.271762044126192,-1.304834121850123,-1.5707963267944862,-0.4120003887629361],[-1.9827967155577781,-1.537724249074324,1.2717620441255817,-1.3048341218495185,-1.5707963267945249,-0.4120003887628964],[-1.9827967155577435,-1.5377242490739989,1.271762044125027,-1.3048341218489707,-1.5707963267945597,-0.41200038876285966],[-1.9827967155577115,-1.5377242490737044,1.271762044124526,-1.3048341218484754,-1.5707963267945915,-0.41200038876282746],[-1.982796715557683,-1.537724249073439,1.2717620441240725,-1.3048341218480264,-1.5707963267946203,-0.4120003887627975],[-1.982796715557657,-1.5377242490731984,1.2717620441236621,-1.30483412184762,-1.5707963267946463,-0.4120003887627704],[-1.9827967155576336,-1.53772424907298,1.2717620441232895,-1.304834121847252,-1.57079632679467,-0.4120003887627462],[-1.982796715557612,-1.537724249072783,1.2717620441229534,-1.3048341218469188,-1.5707963267946912,-0.41200038876272427],[-1.9827967155575927,-1.5377242490726037,1.2717620441226478,-1.3048341218466173,-1.5707963267947105,-0.4120003887627039],[-1.9827967155575754,-1.5377242490724423,1.271762044122373,-1.304834121846345,-1.570796326794728,-0.41200038876268585],[-1.9827967155575597,-1.5377242490722953,1.2717620441221227,-1.304834121846098,-1.570796326794744,-0.41200038876266987],[-1.9827967155575454,-1.537724249072163,1.2717620441218966,-1.3048341218458743,-1.570796326794758,-0.4120003887626541],[-1.9827967155575326,-1.5377242490720426,1.2717620441216917,-1.304834121845672,-1.5707963267947713,-0.4120003887626409],[-1.9827967155575208,-1.5377242490719345,1.271762044121507,-1.3048341218454889,-1.5707963267947833,-0.4120003887626294],[-1.9827967155575101,-1.537724249071836,1.271762044121339,-1.3048341218453228,-1.570796326794794,-0.41200038876261763],[-1.9827967155575001,-1.5377242490717469,1.2717620441211872,-1.3048341218451724,-1.5707963267948033,-0.4120003887626076],[-1.9827967155574915,-1.5377242490716656,1.2717620441210487,-1.304834121845036,-1.5707963267948124,-0.4120003887625989],[-1.9827967155574837,-1.5377242490715928,1.2717620441209243,-1.304834121844913,-1.5707963267948202,-0.4120003887625904],[-1.9827967155574764,-1.537724249071527,1.2717620441208128,-1.3048341218448023,-1.5707963267948275,-0.412000388762583],[-1.9827967155574697,-1.5377242490714675,1.2717620441207116,-1.304834121844702,-1.5707963267948342,-0.41200038876257616],[-1.982796715557464,-1.5377242490714131,1.271762044120618,-1.3048341218446096,-1.57079632679484,-0.41200038876257034],[-1.9827967155574586,-1.5377242490713645,1.2717620441205355,-1.3048341218445276,-1.570796326794845,-0.41200038876256406],[-1.9827967155574542,-1.5377242490713199,1.2717620441204598,-1.3048341218444526,-1.57079632679485,-0.4120003887625597],[-1.9827967155574497,-1.5377242490712795,1.2717620441203905,-1.3048341218443846,-1.5707963267948544,-0.41200038876255507],[-1.9827967155574453,-1.5377242490712433,1.2717620441203286,-1.3048341218443231,-1.5707963267948586,-0.41200038876255096],[-1.9827967155574417,-1.53772424907121,1.271762044120272,-1.3048341218442676,-1.5707963267948621,-0.4120003887625473],[-1.9827967155574389,-1.5377242490711802,1.271762044120222,-1.304834121844218,-1.5707963267948655,-0.4120003887625438],[-1.9827967155574358,-1.5377242490711533,1.2717620441201758,-1.3048341218441717,-1.5707963267948681,-0.4120003887625412],[-1.9827967155574333,-1.5377242490711291,1.2717620441201347,-1.3048341218441315,-1.5707963267948708,-0.41200038876253803],[-1.9827967155574306,-1.5377242490711074,1.2717620441200976,-1.3048341218440942,-1.5707963267948732,-0.4120003887625355],[-1.9827967155574289,-1.5377242490710874,1.2717620441200626,-1.3048341218440598,-1.5707963267948755,-0.4120003887625333],[-1.9827967155574266,-1.5377242490710685,1.2717620441200312,-1.3048341218440294,-1.5707963267948777,-0.41200038876253126],[-1.9827967155574249,-1.5377242490710523,1.2717620441200037,-1.3048341218440014,-1.5707963267948792,-0.4120003887625293],[-1.982796715557423,-1.5377242490710377,1.2717620441199782,-1.3048341218439765,-1.570796326794881,-0.4120003887625276],[-1.982796715557422,-1.5377242490710241,1.2717620441199555,-1.304834121843954,-1.5707963267948823,-0.41200038876252654],[-1.9827967155574207,-1.537724249071012,1.2717620441199347,-1.3048341218439337,-1.570796326794884,-0.4120003887625252],[-1.982796715557419,-1.5377242490710006,1.2717620441199153,-1.3048341218439146,-1.5707963267948852,-0.4120003887625234],[-1.982796715557418,-1.5377242490709904,1.2717620441198985,-1.3048341218438981,-1.5707963267948863,-0.41200038876252215],[-1.982796715557417,-1.537724249070982,1.271762044119883,-1.3048341218438826,-1.5707963267948872,-0.4120003887625213],[-1.9827967155574162,-1.5377242490709735,1.271762044119869,-1.3048341218438686,-1.570796326794888,-0.4120003887625204],[-1.9827967155574155,-1.5377242490709662,1.2717620441198567,-1.3048341218438566,-1.5707963267948888,-0.41200038876251927],[-1.9827967155574149,-1.53772424907096,1.271762044119846,-1.3048341218438455,-1.5707963267948897,-0.41200038876251877],[-1.9827967155574142,-1.5377242490709542,1.2717620441198358,-1.3048341218438355,-1.5707963267948901,-0.4120003887625179],[-1.9827967155574135,-1.5377242490709484,1.2717620441198263,-1.304834121843826,-1.5707963267948908,-0.41200038876251727],[-1.9827967155574129,-1.537724249070943,1.2717620441198174,-1.3048341218438178,-1.5707963267948915,-0.4120003887625167],[-1.9827967155574124,-1.5377242490709386,1.2717620441198096,-1.30483412184381,-1.5707963267948921,-0.41200038876251643],[-1.982796715557412,-1.537724249070935,1.2717620441198036,-1.3048341218438033,-1.5707963267948923,-0.4120003887625159],[-1.9827967155574113,-1.537724249070931,1.271762044119797,-1.304834121843797,-1.5707963267948928,-0.4120003887625154],[-1.9827967155574113,-1.5377242490709273,1.2717620441197908,-1.304834121843791,-1.5707963267948932,-0.4120003887625151],[-1.9827967155574109,-1.537724249070924,1.271762044119785,-1.3048341218437856,-1.5707963267948934,-0.41200038876251466],[-1.9827967155574107,-1.5377242490709224,1.2717620441197819,-1.3048341218437816,-1.5707963267948937,-0.41200038876251494],[-1.9827967155574104,-1.5377242490709193,1.2717620441197763,-1.3048341218437771,-1.570796326794894,-0.4120003887625139],[-1.98279671555741,-1.537724249070917,1.271762044119773,-1.3048341218437738,-1.5707963267948941,-0.41200038876251355],[-1.9827967155574098,-1.5377242490709147,1.2717620441197683,-1.3048341218437691,-1.5707963267948943,-0.4120003887625139],[-1.9827967155574093,-1.5377242490709133,1.2717620441197661,-1.3048341218437667,-1.5707963267948946,-0.4120003887625131],[-1.9827967155574096,-1.5377242490709118,1.2717620441197637,-1.3048341218437645,-1.5707963267948948,-0.41200038876251344],[-1.982796715557409,-1.53772424907091,1.2717620441197608,-1.3048341218437616,-1.5707963267948948,-0.41200038876251294],[-1.9827967155574093,-1.5377242490709084,1.2717620441197586,-1.3048341218437594,-1.570796326794895,-0.412000388762513],[-1.9827967155574089,-1.5377242490709069,1.271762044119756,-1.3048341218437571,-1.5707963267948954,-0.4120003887625126],[-1.9827967155574089,-1.5377242490709067,1.271762044119755,-1.3048341218437554,-1.5707963267948954,-0.4120003887625127],[-1.9827967155574089,-1.5377242490709053,1.2717620441197526,-1.3048341218437534,-1.5707963267948957,-0.4120003887625126],[-1.9827967155574089,-1.5377242490709042,1.2717620441197508,-1.304834121843752,-1.570796326794896,-0.41200038876251255],[-1.9827967155574087,-1.5377242490709035,1.2717620441197497,-1.3048341218437507,-1.570796326794896,-0.4120003887625123],[-1.9827967155574084,-1.5377242490709027,1.2717620441197484,-1.3048341218437496,-1.5707963267948957,-0.4120003887625125],[-1.9827967155574082,-1.537724249070902,1.2717620441197472,-1.3048341218437485,-1.570796326794896,-0.41200038876251194],[-1.9827967155574082,-1.5377242490709013,1.2717620441197466,-1.3048341218437478,-1.5707963267948961,-0.41200038876251244],[-1.982796715557408,-1.5377242490709007,1.2717620441197457,-1.304834121843747,-1.5707963267948961,-0.4120003887625119],[-1.9827967155574082,-1.5377242490709004,1.2717620441197446,-1.3048341218437454,-1.5707963267948961,-0.4120003887625116],[-1.9827967155574082,-1.5377242490708998,1.2717620441197435,-1.3048341218437445,-1.5707963267948963,-0.41200038876251177],[-1.9827967155574082,-1.5377242490708989,1.2717620441197426,-1.3048341218437443,-1.5707963267948963,-0.412000388762512],[-1.9827967155574082,-1.5377242490708993,1.2717620441197428,-1.3048341218437438,-1.5707963267948961,-0.4120003887625124],[-1.9827967155574076,-1.5377242490708989,1.2717620441197421,-1.3048341218437427,-1.5707963267948961,-0.4120003887625118],[-1.982796715557408,-1.5377242490708989,1.2717620441197413,-1.304834121843742,-1.5707963267948963,-0.4120003887625117],[-1.9827967155574078,-1.537724249070898,1.2717620441197404,-1.3048341218437411,-1.5707963267948963,-0.4120003887625115],[-1.982796715557408,-1.5377242490708978,1.2717620441197401,-1.3048341218437411,-1.5707963267948966,-0.4120003887625113],[-1.9827967155574078,-1.537724249070898,1.2717620441197401,-1.3048341218437411,-1.5707963267948961,-0.4120003887625116],[-1.982796715557408,-1.5377242490708976,1.27176204411974,-1.3048341218437411,-1.5707963267948966,-0.4120003887625124],[-1.982796715557408,-1.5377242490708976,1.27176204411974,-1.3048341218437403,-1.5707963267948968,-0.4120003887625113],[-1.982796715557408,-1.5377242490708969,1.2717620441197388,-1.3048341218437398,-1.5707963267948963,-0.4120003887625116],[-1.9827967155574078,-1.537724249070897,1.271762044119739,-1.30483412184374,-1.5707963267948963,-0.41200038876251116],[-1.9827967155574078,-1.5377242490708969,1.2717620441197388,-1.3048341218437398,-1.5707963267948963,-0.41200038876251127],[-1.9827967155574078,-1.5377242490708969,1.2717620441197384,-1.3048341218437396,-1.5707963267948966,-0.41200038876251144],[-1.9827967155574078,-1.5377242490708967,1.271762044119738,-1.3048341218437387,-1.5707963267948968,-0.4120003887625113],[-1.9827967155574078,-1.5377242490708967,1.2717620441197377,-1.3048341218437387,-1.5707963267948966,-0.41200038876251066],[-1.9827967155574073,-1.5377242490708958,1.2717620441197373,-1.3048341218437387,-1.5707963267948966,-0.4120003887625114],[-1.9827967155574076,-1.5377242490708969,1.2717620441197388,-1.3048341218437391,-1.570796326794897,-0.41200038876251105],[-1.9827967155574076,-1.5377242490708962,1.2717620441197368,-1.304834121843738,-1.5707963267948966,-0.4120003887625114],[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.304834121843738,-1.5707963267948966,-0.41200038876251166],[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437385,-1.5707963267948968,-0.4120003887625111],[-1.9827967155574078,-1.5377242490708964,1.271762044119738,-1.3048341218437387,-1.570796326794897,-0.4120003887625113],[-1.9827967155574078,-1.5377242490708962,1.2717620441197377,-1.3048341218437385,-1.5707963267948963,-0.412000388762511],[-1.982796715557408,-1.537724249070896,1.271762044119737,-1.304834121843738,-1.5707963267948966,-0.4120003887625117],[-1.9827967155574076,-1.5377242490708964,1.2717620441197375,-1.304834121843738,-1.5707963267948966,-0.41200038876251155],[-1.9827967155574078,-1.5377242490708962,1.2717620441197375,-1.304834121843738,-1.5707963267948966,-0.4120003887625107],[-1.9827967155574078,-1.5377242490708958,1.271762044119737,-1.3048341218437383,-1.5707963267948968,-0.4120003887625106],[-1.982796715557408,-1.537724249070896,1.2717620441197375,-1.3048341218437383,-1.5707963267948966,-0.41200038876251177],[-1.9827967155574076,-1.5377242490708962,1.2717620441197375,-1.3048341218437378,-1.5707963267948966,-0.412000388762512],[-1.9827967155574078,-1.5377242490708964,1.2717620441197375,-1.3048341218437378,-1.5707963267948963,-0.4120003887625111],[-1.982796715557408,-1.537724249070896,1.2717620441197373,-1.3048341218437378,-1.5707963267948966,-0.4120003887625108],[-1.9827967155574076,-1.537724249070896,1.271762044119737,-1.304834121843738,-1.5707963267948968,-0.4120003887625114],[-1.9827967155574076,-1.5377242490708956,1.271762044119736,-1.3048341218437374,-1.5707963267948968,-0.4120003887625105],[-1.9827967155574076,-1.5377242490708958,1.271762044119737,-1.304834121843738,-1.5707963267948966,-0.4120003887625109],[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.41200038876251155],[-1.9827967155574076,-1.537724249070895,1.2717620441197366,-1.304834121843738,-1.5707963267948968,-0.4120003887625104],[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.41200038876251066],[-1.9827967155574073,-1.5377242490708958,1.2717620441197366,-1.304834121843738,-1.5707963267948966,-0.41200038876251055],[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948968,-0.41200038876251155],[-1.9827967155574078,-1.5377242490708949,1.2717620441197357,-1.3048341218437376,-1.5707963267948966,-0.4120003887625101],[-1.9827967155574078,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.41200038876251094],[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.4120003887625106],[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.41200038876251077],[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437371,-1.5707963267948963,-0.4120003887625104],[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],[-1.9827967155574076,-1.5377242490708949,1.2717620441197355,-1.3048341218437371,-1.5707963267948966,-0.4120003887625114],[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.412000388762511],[-1.9827967155574078,-1.537724249070896,1.271762044119737,-1.3048341218437376,-1.5707963267948966,-0.41200038876251116],[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437378,-1.5707963267948966,-0.41200038876251144],[-1.9827967155574073,-1.5377242490708956,1.2717620441197361,-1.3048341218437371,-1.5707963267948966,-0.41200038876251077],[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948966,-0.4120003887625107],[-1.9827967155574078,-1.537724249070895,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625105],[-1.9827967155574076,-1.5377242490708958,1.271762044119737,-1.304834121843738,-1.5707963267948968,-0.41200038876251155],[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437378,-1.5707963267948968,-0.41200038876251016],[-1.9827967155574073,-1.5377242490708949,1.2717620441197355,-1.304834121843737,-1.5707963267948966,-0.4120003887625109],[-1.9827967155574076,-1.537724249070895,1.2717620441197353,-1.304834121843737,-1.5707963267948963,-0.41200038876251166],[-1.9827967155574073,-1.5377242490708949,1.2717620441197355,-1.3048341218437374,-1.5707963267948966,-0.4120003887625113],[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948963,-0.4120003887625109],[-1.9827967155574076,-1.537724249070895,1.2717620441197361,-1.304834121843738,-1.5707963267948966,-0.4120003887625117],[-1.9827967155574076,-1.537724249070895,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.4120003887625116],[-1.9827967155574076,-1.5377242490708949,1.2717620441197355,-1.304834121843737,-1.5707963267948966,-0.41200038876251033],[-1.9827967155574076,-1.5377242490708944,1.2717620441197353,-1.3048341218437371,-1.5707963267948968,-0.41200038876251033],[-1.9827967155574076,-1.537724249070895,1.271762044119736,-1.3048341218437371,-1.5707963267948966,-0.41200038876251144],[-1.9827967155574076,-1.5377242490708949,1.2717620441197357,-1.3048341218437376,-1.5707963267948968,-0.41200038876251127],[-1.9827967155574076,-1.5377242490708947,1.2717620441197353,-1.3048341218437371,-1.5707963267948966,-0.4120003887625101],[-1.982796715557408,-1.5377242490708953,1.2717620441197355,-1.3048341218437371,-1.5707963267948966,-0.4120003887625117],[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.304834121843738,-1.5707963267948968,-0.4120003887625109],[-1.9827967155574076,-1.5377242490708953,1.2717620441197355,-1.304834121843737,-1.5707963267948966,-0.41200038876251077],[-1.9827967155574076,-1.537724249070895,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.4120003887625107],[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.4120003887625116],[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437374,-1.5707963267948968,-0.41200038876251066],[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.412000388762511],[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948968,-0.4120003887625106],[-1.9827967155574078,-1.5377242490708949,1.2717620441197357,-1.3048341218437374,-1.5707963267948968,-0.41200038876251077],[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.41200038876251055],[-1.9827967155574073,-1.5377242490708958,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.41200038876251094],[-1.9827967155574076,-1.537724249070895,1.2717620441197355,-1.3048341218437367,-1.5707963267948966,-0.4120003887625109],[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.41200038876251033],[-1.9827967155574076,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948963,-0.4120003887625102],[-1.9827967155574076,-1.537724249070895,1.2717620441197355,-1.3048341218437371,-1.570796326794897,-0.4120003887625102],[-1.9827967155574078,-1.537724249070895,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.41200038876251094],[-1.9827967155574076,-1.537724249070895,1.2717620441197364,-1.304834121843738,-1.5707963267948966,-0.4120003887625101],[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.412000388762511],[-1.9827967155574078,-1.5377242490708953,1.2717620441197361,-1.3048341218437371,-1.5707963267948968,-0.4120003887625107],[-1.9827967155574076,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625105],[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625106],[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625107],[-1.9827967155574073,-1.537724249070895,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.4120003887625101],[-1.9827967155574073,-1.5377242490708953,1.2717620441197366,-1.3048341218437385,-1.5707963267948968,-0.4120003887625115],[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625106],[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.4120003887625105],[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.4120003887625111],[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437378,-1.5707963267948966,-0.41200038876251066],[-1.9827967155574078,-1.5377242490708953,1.271762044119736,-1.3048341218437371,-1.5707963267948966,-0.4120003887625108],[-1.982796715557408,-1.5377242490708956,1.271762044119736,-1.3048341218437374,-1.5707963267948966,-0.4120003887625107],[-1.9827967155574076,-1.5377242490708953,1.271762044119736,-1.3048341218437374,-1.5707963267948968,-0.4120003887625111],[-1.9827967155574078,-1.5377242490708956,1.2717620441197368,-1.3048341218437378,-1.5707963267948966,-0.41200038876251077],[-1.9827967155574076,-1.5377242490708956,1.2717620441197368,-1.3048341218437376,-1.5707963267948968,-0.41200038876251044],[-1.9827967155574078,-1.5377242490708956,1.271762044119736,-1.3048341218437374,-1.5707963267948968,-0.4120003887625113],[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],[-1.9827967155574078,-1.5377242490708953,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625106],[-1.9827967155574078,-1.5377242490708956,1.2717620441197368,-1.3048341218437383,-1.5707963267948966,-0.4120003887625104],[-1.9827967155574078,-1.537724249070895,1.2717620441197357,-1.3048341218437371,-1.570796326794897,-0.4120003887625113],[-1.9827967155574078,-1.537724249070895,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.41200038876251077],[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948968,-0.4120003887625109],[-1.9827967155574078,-1.5377242490708953,1.271762044119736,-1.3048341218437376,-1.5707963267948966,-0.41200038876251116],[-1.9827967155574076,-1.5377242490708953,1.2717620441197357,-1.304834121843737,-1.5707963267948968,-0.41200038876251177],[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.41200038876251044],[-1.9827967155574078,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.41200038876251144],[-1.9827967155574076,-1.537724249070895,1.271762044119736,-1.3048341218437371,-1.5707963267948968,-0.4120003887625114],[-1.9827967155574078,-1.5377242490708958,1.271762044119737,-1.3048341218437378,-1.5707963267948966,-0.41200038876251077],[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437374,-1.5707963267948968,-0.4120003887625112],[-1.9827967155574078,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948968,-0.412000388762511],[-1.9827967155574076,-1.5377242490708958,1.271762044119737,-1.304834121843738,-1.5707963267948963,-0.41200038876251055],[-1.9827967155574076,-1.537724249070896,1.2717620441197366,-1.3048341218437376,-1.5707963267948966,-0.41200038876251127],[-1.9827967155574076,-1.537724249070896,1.271762044119737,-1.3048341218437374,-1.5707963267948968,-0.41200038876251105],[-1.9827967155574078,-1.5377242490708958,1.2717620441197373,-1.3048341218437378,-1.570796326794897,-0.41200038876251066],[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437374,-1.5707963267948968,-0.4120003887625108],[-1.9827967155574076,-1.5377242490708956,1.271762044119736,-1.304834121843737,-1.5707963267948966,-0.4120003887625106],[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437374,-1.5707963267948966,-0.4120003887625103],[-1.9827967155574076,-1.5377242490708956,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625111],[-1.9827967155574078,-1.537724249070896,1.271762044119737,-1.3048341218437378,-1.5707963267948966,-0.412000388762511],[-1.9827967155574073,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948968,-0.41200038876251066],[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948968,-0.41200038876251077],[-1.9827967155574078,-1.5377242490708953,1.2717620441197368,-1.304834121843738,-1.5707963267948968,-0.41200038876251077],[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948968,-0.4120003887625106],[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948963,-0.412000388762511],[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.41200038876251116],[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437374,-1.5707963267948966,-0.412000388762511],[-1.9827967155574076,-1.537724249070895,1.2717620441197357,-1.3048341218437371,-1.5707963267948968,-0.4120003887625102],[-1.9827967155574076,-1.5377242490708956,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.41200038876251066],[-1.9827967155574076,-1.5377242490708953,1.2717620441197361,-1.3048341218437374,-1.5707963267948968,-0.41200038876251033],[-1.9827967155574078,-1.5377242490708953,1.2717620441197361,-1.3048341218437376,-1.5707963267948966,-0.41200038876251144],[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],[-1.9827967155574076,-1.5377242490708953,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.41200038876251105],[-1.9827967155574073,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.41200038876251105],[-1.9827967155574073,-1.5377242490708956,1.2717620441197361,-1.3048341218437378,-1.5707963267948968,-0.41200038876251066],[-1.9827967155574073,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.4120003887625107],[-1.9827967155574076,-1.5377242490708956,1.2717620441197368,-1.3048341218437376,-1.5707963267948968,-0.41200038876251033],[-1.9827967155574078,-1.5377242490708956,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.4120003887625113],[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625108],[-1.9827967155574076,-1.537724249070895,1.2717620441197361,-1.3048341218437376,-1.5707963267948966,-0.41200038876251033],[-1.9827967155574076,-1.5377242490708953,1.2717620441197364,-1.3048341218437378,-1.5707963267948966,-0.4120003887625113],[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948966,-0.4120003887625104],[-1.982796715557408,-1.5377242490708956,1.2717620441197361,-1.3048341218437371,-1.5707963267948968,-0.41200038876251094],[-1.9827967155574073,-1.5377242490708956,1.2717620441197361,-1.3048341218437376,-1.5707963267948968,-0.4120003887625107],[-1.9827967155574078,-1.5377242490708958,1.2717620441197366,-1.3048341218437374,-1.5707963267948966,-0.4120003887625115],[-1.9827967155574078,-1.537724249070895,1.2717620441197364,-1.3048341218437378,-1.5707963267948963,-0.41200038876251077],[-1.9827967155574076,-1.5377242490708956,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.4120003887625106],[-1.9827967155574073,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.4120003887625113],[-1.9827967155574076,-1.5377242490708953,1.2717620441197357,-1.3048341218437371,-1.5707963267948968,-0.4120003887625111],[-1.9827967155574078,-1.5377242490708956,1.2717620441197357,-1.304834121843737,-1.5707963267948968,-0.4120003887625109],[-1.9827967155574076,-1.5377242490708958,1.2717620441197364,-1.3048341218437376,-1.5707963267948968,-0.4120003887625116],[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625115],[-1.9827967155574076,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625107],[-1.9827967155574078,-1.5377242490708956,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.41200038876251127],[-1.9827967155574073,-1.5377242490708953,1.271762044119736,-1.3048341218437374,-1.5707963267948966,-0.4120003887625117],[-1.9827967155574076,-1.5377242490708958,1.2717620441197375,-1.3048341218437383,-1.5707963267948963,-0.41200038876251055],[-1.9827967155574076,-1.5377242490708958,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.4120003887625109],[-1.9827967155574073,-1.5377242490708958,1.2717620441197368,-1.3048341218437376,-1.5707963267948966,-0.4120003887625113],[-1.9827967155574076,-1.5377242490708956,1.271762044119737,-1.304834121843738,-1.5707963267948968,-0.41200038876251055],[-1.9827967155574073,-1.5377242490708953,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.4120003887625108],[-1.9827967155574076,-1.537724249070896,1.2717620441197373,-1.3048341218437383,-1.5707963267948968,-0.41200038876251055],[-1.9827967155574073,-1.5377242490708956,1.2717620441197366,-1.3048341218437378,-1.5707963267948966,-0.4120003887625109],[-1.9827967155574078,-1.537724249070895,1.2717620441197361,-1.3048341218437374,-1.5707963267948966,-0.4120003887625109],[-1.9827967155574078,-1.537724249070895,1.2717620441197357,-1.3048341218437374,-1.5707963267948966,-0.41200038876251044],[-1.9827967155574078,-1.5377242490708958,1.2717620441197368,-1.3048341218437378,-1.5707963267948963,-0.4120003887625106],[-1.9827967155574078,-1.5377242490708956,1.2717620441197366,-1.3048341218437376,-1.5707963267948968,-0.4120003887625105]],"metrics":{"valid":true,"success":false,"reason":"timeout","simulation_time":20.00000000000146,"steps":1000,"lift_seen":false,"grasp_seen":false,"max_object_lift_m":6.229944338187465e-11,"dwell_seconds":0.0,"lift_dwell_seconds":0.0,"max_pad_normal_force_n":0.0,"unexpected_contact_native_ticks":0,"carry_complete":false,"retention_lost":false,"max_carry_contact_loss_seconds":0.0,"carry_contact_loss_events":0,"carry_contact_loss_tolerance_seconds":0.04,"first_success_time_seconds":null,"target_distance_m":0.22160023328736905,"warnings":[],"physical_robot_ready":false},"timing":{"setup_seconds":0.5295764999464154,"episode_wall_seconds":6.824004875030369,"control_step_seconds":{"count":1000,"median":0.004876896156929433,"p95":0.012225457932800055,"max":0.07108066719956696},"missed_control_boundaries":26,"control_boundaries":1000,"simulated_seconds_per_wall_second":2.9308302626194203,"scope":"Wall computation, not real-time sensor-to-actuator latency. Includes setup, policy/IK, native physics, contacts, observations and trace construction; excludes process startup, output I/O and rendering"},"contract":{"profile":"ur5e-2f85-rigid-block-task-v0.1","scope":"Authored native UR5e/Robotiq rigid-block manipulation, privileged state and synthetic commands. No shoe model, learned task policy, camera sensing, calibrated contact or physical qualification.","physical_robot_ready":false,"arm_joint_order":["shoulder_pan_joint","shoulder_lift_joint","elbow_joint","wrist_1_joint","wrist_2_joint","wrist_3_joint"],"gripper_linkage_order":["gripper/right_driver_joint","gripper/right_coupler_joint","gripper/right_spring_link_joint","gripper/right_follower_joint","gripper/left_driver_joint","gripper/left_coupler_joint","gripper/left_spring_link_joint","gripper/left_follower_joint"],"actions":{"joint_targets_rad":"six absolute joint targets, rad; ramped then gravity feedforward","gripper_0_255":"one native tendon servo target; 0 open / 255 close, not measured gap or force"},"observation_origin":"privileged_native_simulator_state","native_sensor_definitions":0,"observations":{"joint_position_rad":[6],"joint_velocity_rad_s":[6],"linkage_position_rad":[8],"tcp_position_m":[3],"tcp_quaternion_wxyz":[4],"object_position_m":[3],"object_quaternion_wxyz":[4],"grasp_contact_counts":"left/right native block contacts","pad_normal_forces_n":"native mj_contactForce, not deployable tactile sensing"},"contacts":"native collision proxies; object priority 1 overrides pad/table friction floors","object":"one free rigid box; no weld, grasp attachment or runtime object pose writes","success":"valid physics, retained bilateral table-free lift and supported destination carry completion, then released/settled destination dwell and tool retreat","carry_retention":{"bilateral_contact_required":"after sustained lift until supported at destination while held","contact_force_threshold_n":0.01,"consecutive_loss_tolerance_seconds":0.04,"loss_at_or_above_tolerance":"permanent failure, independent of teacher phase"},"fixed_base_collision_proxy":false},"implementation_sha256":{"reference_task.py":"bbc768ccc202b8dd41cbd235b206e6478806ce47c1f30ae15dc662c0c1edcc3e","reference_sim.py":"c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8","reference_assets.lock.json":"941eb6f9fd474635a590b82c66b59a9d5124d8e0d9ddc203006f5b921d8d2861"},"asset_provenance":{"commit":"0059d4335f8156206f63a35662313385f7ad6d74","files_verified":36,"bytes_verified":34193501,"lock_sha256":"941eb6f9fd474635a590b82c66b59a9d5124d8e0d9ddc203006f5b921d8d2861","licenses":{"universal_robots_ur5e":"BSD-3-Clause","robotiq_2f85":"BSD-2-Clause"}},"compiled_model_sha256":"28b945b80a23bb8ab83c3089a447288401b12b5180d7d14c5fdafdd45c51ea2a","initial_object_position_m":[-0.1470712696637384,0.49556891105693235,0.2998922445174839],"target_position_m":[0.07433918934878232,0.5047373576545,0.3],"id":"low_friction-01--replay_open_jaw","scene_id":"low_friction-01","attempt_wall_seconds":6.828893291065469}